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This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower...
This paper describes an energy-efficient swing-back control for the brachiation robot. In our previous work, the brachiation controller is composed of two actions: swing- back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion...
Sound source tracking is an important function for a robot operating in a daily environment, because the robot should recognize where a sound event such as speech, music and other environmental sounds originates from. This paper addresses sound source tracking by integrating a room and a robot microphone array. The room microphone array consists of 64 microphones attached to the walls. It provides...
In this paper, we present the control method to achieve the continuous brachiation on the irregular ladder. The uniform ladder problem was solved by means of symmetric property previously. However, as for the irregular ladder problem, it's impossible to build the controller based on symmetric property since the motion cannot be designed symmetrically. Therefore, it is necessary to estimate the energy...
This paper describes the new structure and motion mechanism of an underwater microrobot using ICPF actuator, and discusses the swimming possibility of the microrobot in water. Characteristic of the underwater microrobot is measured by changing the frequency and the amplitude of input voltage. The experimental results indicate that the swimming speed of proposed underwater micro robot can be controlled...
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