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Locomotion on the rough and variable ground surfaces is crucial for robots to complete various tasks. Recent advancement in numerical computation allow such locomotive robots to manipulate in real environments using a model-based control framework. This approach is successful if the precise model it is obtained. However, it is not always feasible to use the precise model because there are various...
In a real environment, robots must handle contact with various objects. However, it is hard to model the contacts in advance, since there are a huge variety of objects in our daily lives. Humans have the ability to handle such physical interactions in daily life and such an ability is realized by adapting the physical characteristics produced by the skeletal structure with large DoFs and its actuating...
Conventional hybrid actuators can achieve a better force/torque bandwidth than a single principle actuator without losing back-drivability. However, hybrid actuators occupy space at least equal to the sum of the volumes of two or more actuators and multiple transmissions consisting of timing belts, gears, links, tendons, or Bowden-cables. Designs in which space and structural elements of a hybrid...
Due to human sensitivity for humanlike objects, designing human-like behavior for a robot that interacts with humans remains a central issue in the HRI field. This issue is formidable because human-likeness is an important factor for better interaction since it can easily convey negative impressions if the design is not perfect, as in the uncanny valley phenomena. This paper addresses this issue with...
Generating natural motion in robots is important for improving human-robot interaction. We developed a tele-operation system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present work, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on...
The compliance of muscles with external forces and the structural stability given by biarticular muscles are important features of animals to realize dynamic whole body motions such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator can emulate the behavior of a human muscle such as the spring-damper characteristics...
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