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The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically,...
Red harvester ants allocate themselves to some tasks. In this paper, we propose the ODE model which represents their macro behaviors. In this model, colony size fluctuates due to workers' birth and death. Using the simulator based on this model, we investigate the relationship between survivability of colony and rate of state transition from searching state to resting state.
When a legged-robot walks on an irregular terrain such as a damaged area, some footholds may collapse due to the external force caused by the walking robot, and consequently the robot will stumble and fall. We have earlier proposed a locomotion method in which the quadruped robot does not stumble and cause a large collapse of the surrounding area on a weak horizontal plane. In this paper, we extend...
Teleoperation system using past image records (SPIR) is a system that shows the virtual trailing view using recorded images from previous times. In this system, the operator can control the robot intuitively by seeing the trailing view and the superimposed robot computer graphics (CG) model only using only a front facing camera on the robot. The preexisting time follower's vision was developed for...
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