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A biorobotic fin has been developed that recreates the motions made by the bluegill sunfish's pectoral fin during maneuvers such as a yaw turn. The design of the fin is an evolution of a design used for a robotic fin that recreated the motions and hydrodynamic forces made by the sunfish during steady swimming. Due to a large number of degrees of freedom, the fin creates hydrodynamics similar to those...
We present a reconstruction of the dynamics of flight initiation from kinematic data extracted from high-speed video recordings of the fruit fly Drosophila melanogaster. The dichotomy observed in this insectpsilas flight initiation sequences, generated by the presence or absence of visual stimuli, clearly generates two contrasting sets of dynamics once the flies become airborne. By calculating reaction...
The aim of our research is to develop an anthropomorphic flutist robot that on the one hand reproduces the human motor skills required for playing the flute, and on the other hand displays cognitive capabilities for interacting with other (human) musicians. In this paper, we detail the recent mechanical improvements on the Waseda Flutist Robot (WF-4RIV), enhancing the realistic production of the flute...
This research integrates rigorous methods of reinforcement learning (RL) and control engineering with a behavioral (ethology) approach to the agent technology. The main outcome is a hybrid architecture for intelligent autonomous agents targeted to the Artificial Life like environments. The architecture adopts several biology concepts and shows that they can provide robust solutions to some areas....
Certain sub-tasks involved in robot-assisted surgery can be described in terms of steady-state forces or positions that must be maintained during the procedure by the end effector(s). The automatic control system must determine these levels. Methods for mathematically determining these equilibrium forces and positions are developed here. The computation is done in a way that enforces surgeon-provided...
With computer speeds greatly increasing, hardware is no longer a hurdle in the development of controllers for wearable lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then supply the robot with the correct desired movements. This paper reflects on some existing control algorithms and then presents theory and...
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