Hiroyuki Toyama

Learn More
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the inclination of the terrain. Instead, the system changes walking modes depends on its walking speed. In the downhill terrain, when the walking speed is increased, the stiffness of(More)
We present here the structure of our humanoid robot soccer team JEAP. We use a heterogenous set of commercial humanoid robots that are havily customized from their original design. For this RoboCup we are also ordering a new custo m designed humanoid whose specifications are already included in this paper. The task of controlling these robots is faced(More)
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the inclination of the terrain. Instead, the system changes walking modes depends on its walking speed. In the downhill terrain, when the walking speed is increased, the stiffness of(More)
The Monte Carlo simulations using the mathematical phantom of a human body model is useful as a method of getting to know the details of the radiation exposure in a human body. However, it is very difficult to evaluate experimentally the validity of the calculation result of the simulation using the human body model. Then, the mathematical phantom of(More)
  • 1