The Experts below are selected from a list of 9102 Experts worldwide ranked by ideXlab platform
Christopher G Atkeson - One of the best experts on this subject based on the ideXlab platform.
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modulation of simple sinusoidal patterns by a Coupled Oscillator Model for biped walking
International Conference on Robotics and Automation, 2006Co-Authors: Jun Morimoto, Gen Endo, Gordon Cheng, Jun Nakanishi, Sangho Hyon, D C Bentivegna, Christopher G AtkesonAbstract:We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns
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ICRA - Modulation of simple sinusoidal patterns by a Coupled Oscillator Model for biped walking
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Jun Morimoto, Gordon Cheng, Jun Nakanishi, Sangho Hyon, D C Bentivegna, Endo, Christopher G AtkesonAbstract:We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns
Gordon Cheng - One of the best experts on this subject based on the ideXlab platform.
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A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a Coupled Oscillator Model
IEEE Transactions on Robotics, 2008Co-Authors: Jun Morimoto, Gen Endo, Jun Nakanishi, Gordon ChengAbstract:Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center-of-pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not explicitly use dynamical parameters of the humanoid robot. We hypothesize that a similar mechanism may exist in biological systems. We applied the proposed biologically inspired control strategy to our newly developed human-sized humanoid robot computational brain (CB) and a small size humanoid robot, enabling them to generate successful stepping and walking patterns.
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modulation of simple sinusoidal patterns by a Coupled Oscillator Model for biped walking
International Conference on Robotics and Automation, 2006Co-Authors: Jun Morimoto, Gen Endo, Gordon Cheng, Jun Nakanishi, Sangho Hyon, D C Bentivegna, Christopher G AtkesonAbstract:We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns
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ICRA - Modulation of simple sinusoidal patterns by a Coupled Oscillator Model for biped walking
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Jun Morimoto, Gordon Cheng, Jun Nakanishi, Sangho Hyon, D C Bentivegna, Endo, Christopher G AtkesonAbstract:We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns
Jun Morimoto - One of the best experts on this subject based on the ideXlab platform.
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A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a Coupled Oscillator Model
IEEE Transactions on Robotics, 2008Co-Authors: Jun Morimoto, Gen Endo, Jun Nakanishi, Gordon ChengAbstract:Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center-of-pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not explicitly use dynamical parameters of the humanoid robot. We hypothesize that a similar mechanism may exist in biological systems. We applied the proposed biologically inspired control strategy to our newly developed human-sized humanoid robot computational brain (CB) and a small size humanoid robot, enabling them to generate successful stepping and walking patterns.
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modulation of simple sinusoidal patterns by a Coupled Oscillator Model for biped walking
International Conference on Robotics and Automation, 2006Co-Authors: Jun Morimoto, Gen Endo, Gordon Cheng, Jun Nakanishi, Sangho Hyon, D C Bentivegna, Christopher G AtkesonAbstract:We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns
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ICRA - Modulation of simple sinusoidal patterns by a Coupled Oscillator Model for biped walking
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 1Co-Authors: Jun Morimoto, Gordon Cheng, Jun Nakanishi, Sangho Hyon, D C Bentivegna, Endo, Christopher G AtkesonAbstract:We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a Coupled Oscillator Model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns
Hiroshi G Okuno - One of the best experts on this subject based on the ideXlab platform.
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Human-robot ensemble between robot thereminist and human percussionist using Coupled Oscillator Model
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Takeshi Mizumoto, Takuma Otsuka, Kazuhiro Nakadai, Tetsuya Ogata, Kazunori Komatani, Toru Takahashi, Hiroshi G OkunoAbstract:This paper presents a novel synchronizing method for a human-robot ensemble using Coupled Oscillators. We define an ensemble as a synchronized performance produced through interactions between independent players. To attain better synchronized performance, the robot should predict the human's behavior to reduce the difference between the human's and robot's onset timings. Existing studies in such synchronization only adapts to onset intervals, thus, need a considerable time to synchronize. We use a Coupled Oscillator Model to predict the human's behavior. Experimental results show that our method reduces the average of onset time errors; when we use a metronome, a tempo-varying metronome or a human drummer, errors are reduced by 38%, 10% or 14% on the average, respectively. These results mean that the prediction of human's behaviors is effective for the synchronized performance.
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IROS - Human-robot ensemble between robot thereminist and human percussionist using Coupled Oscillator Model
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Takeshi Mizumoto, Takuma Otsuka, Kazuhiro Nakadai, Tetsuya Ogata, Kazunori Komatani, Toru Takahashi, Hiroshi G OkunoAbstract:This paper presents a novel synchronizing method for a human-robot ensemble using Coupled Oscillators. We define an ensemble as a synchronized performance produced through interactions between independent players. To attain better synchronized performance, the robot should predict the human's behavior to reduce the difference between the human's and robot's onset timings. Existing studies in such synchronization only adapts to onset intervals, thus, need a considerable time to synchronize. We use a Coupled Oscillator Model to predict the human's behavior. Experimental results show that our method reduces the average of onset time errors; when we use a metronome, a tempo-varying metronome or a human drummer, errors are reduced by 38%, 10% or 14% on the average, respectively. These results mean that the prediction of human's behaviors is effective for the synchronized performance.
Marlan O Scully - One of the best experts on this subject based on the ideXlab platform.
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hidden pt symmetry and quantization of a Coupled Oscillator Model of quantum amplification by superradiant emission of radiation
Physical Review A, 2017Co-Authors: Lida Zhang, G S Agarwal, Wolfgang P. Schleich, Marlan O ScullyAbstract:Using Maxwell-Bloch equations it has been shown how the superradiance can lead to amplification and gain at a frequency much larger than the pumping frequency. This remarkable effect has been examined in terms of a simpler Model involving two Coupled Oscillators with one of them paramet- rically driven. We show that this Coupled Oscillator Model has a hidden parity-time (PT) symmetry for QASER, we thus bring PT symmetry to the realm of parametrically Coupled resonators. More- over, we find that the QASER gain arises from the broken PT symmetry phase. We then quantize the simplified version of the QASER using quantum Langevin equations. The quantum description enables us to understand how the system starts from quantum fluctuations.
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hidden pt symmetry and quantization of a Coupled Oscillator Model of quantum amplification by superradiant emission of radiation
Physical Review A, 2017Co-Authors: Lida Zhang, G S Agarwal, Wolfgang P. Schleich, Marlan O ScullyAbstract:With Maxwell-Bloch equations how the superradiance can lead to amplification and gain at a frequency much larger than the pumping frequency has been shown. This remarkable effect has been examined in terms of a simpler Model involving two Coupled Oscillators, with one of them parametrically driven. We show that this Coupled-Oscillator Model has a hidden parity-time ($\mathcal{PT}$) symmetry for quantum amplification by superradiant emission of radiation (QASER); we thus bring $\mathcal{PT}$ symmetry to the realm of parametrically Coupled resonators. Moreover, we find that the QASER gain arises from the broken-$\mathcal{PT}$-symmetry phase. We then quantize the simplified version of QASER using quantum Langevin equations. The quantum description enables us to understand how the system starts from quantum fluctuations.
