Search

Your search keyword '"Endo, Gen"' showing total 827 results
Start Over Author "Endo, Gen"
827 results on '"Endo, Gen"'

155. A biologically inspired biped locomotion strategy for humanoid robots: modulation of sinusoidal patterns by a coupled oscillator model

Author

Morimoto, Jun, Endo, Gen, Nakanishi, Jun, and Cheng, Gordon

Subjects
Bipedal robots -- Design and construction, Oscillators (Electronics) -- Usage, Walking -- Physiological aspects, Joints -- Properties, Robotics -- Research
Abstract

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. Index Terms--Biologically inspired approach, biped walking, central pattern generator, coupled oscillator, humanoid robots.

Published
2008

156. Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot

Author

Endo, Gen, Morimoto, Jun, Matsubara, Takamitsu, Nakanishi, Jun, and Cheng, Gordon

Subjects
Robots -- Analysis, Reinforcement learning (Machine learning) -- Analysis, Computers and office automation industries, Engineering and manufacturing industries, Robot, Analysis
Abstract

Byline: Gen Endo (Tokyo Institute of Technology 2-12-1 Ookayama, Meguro-ku Tokyo, 152-8550, Japan, gendo@sms.titech.ac.jp); Jun Morimoto (ATR Computational Neuroscience Laboratories Computational Brain Project, ICORP Japan Science and Technology Agency 2-2-2 [...]

Published
2008
Full Text
View/download PDF

164. Hydraulic Artificial Muscle-Powered Knee Support Wearable Device with Four-bar Linkage Mechanism

Author

KITTISARES, Sarin, Kittisares, Sarin, Nabae, Hiroyuki, Endo, Gen, and Suzumori, Koichi

Subjects
Quantitative Biology::Tissues and Organs
Abstract

Hydraulic cylinders have been selected as actuator in earlier exoskeletons due to low weight and high force density. In this paper, we propose a knee exoskeleton using Hydraulic Artificial Muscle (HAM) and four-bar knee joint mechanism. The HAM has similar advantages to hydraulic cylinders, but lighter and compliance, making it suitable for wearable robot applications. To allow the device to better comform to human knee kinematics, a four-bar linkage mechanism was utilized. The human knee biomechanics is a combination of rolling and sliding on the condyle, which can be emulated using four-bar linkage. To adapt the HAM to the link mechanism, we proposed and Angled Bar as a modification to the existing mechanism. The Angled Bar adjusts the torque output and motion range of the proposed device.

Published
2020

179. Experimental Evaluation of Cloth-like Mechanisms Made of Artificial Muscles

Author

Hiramitsu, Tatsuhiro, Suzumori, Koichi, Nabae, Hiroyuki, and Endo, Gen

Subjects
pneumatic system, soft mechanism, active textile, artificial muscle, braided structure
Abstract

Pneumatic artificial muscles have some advantages. Especially, the flexibility contributes to compose novel mechanisms. The flexibility of pneumatic artificial muscles releases us from the spatially strict design. It could actualize compact mechanisms made of fewer parts. The thin artificial muscles we developed are more flexible than conventional McKibben muscles. Authors succeeded in manufacturing novel soft mechanisms that are made of only woven artificial muscles and strings. We called this mechanism active textile. In this paper, we report a result for driving experiment of active textiles that are woven in three foundation woven from thin artificial muscles and some strings. Deformation types of active textiles are changed by woven structures. Those woven structures differ by a pattern of crossing position. In addition to that, woofs’ characteristics such as cross-sectional shape, bending stiffness and elasticity determine the characteristic of a textile. The active textile changes to a contraction mechanism by gap of woofs, additionally it changes to a bending mechanism by the ratio of short path in front and back sides of textile. Active textiles bend in two directions. One of them is caused by contraction of artificial muscles, and other one is caused by expansion. It determines which bending dominants by woven structures and woof yarns.

Published
2018

Catalog

Books, media, physical & digital resources
See catalog results