Jun'ichiro Ooga

Learn More
Generation of a sequence of behaviors is necessary for the RoboCup Humanoid league to realize not simply a individual robot performance but also cooperative ones between robots. A typical example task is passing a ball between two humanoids, and the issues are: (1) basic skill decomposition, (2) skill learning, and (3) planning to connect the learned(More)
Imitation learning is a powerful approach to humanoid behavior generation, however, the most existing methods assume the availability of the information on the internal state of a demonstrator such as joint angles, while humans usually cannot directly access to imitate the observed behavior. This paper presents a method of imitation learning based on(More)
This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact(More)
  • 1