Kiyotaka Izumi

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This paper shows the possible development of particle swarm optimization (PSO)-based fuzzy–neural networks (FNNs) that can be employed as an important building block in real robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs that can accurately output the crisp control signals for the robot systems, based on fuzzy(More)
Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention for the purpose of generating rhythmic motion for biped robots with human-like locomotion. This article describes the design of a neural-oscillator-based gait-rhythm generator using a network of Matsuoka oscillators to(More)
We have already developed a fuzzy behaviorbased control system that combines the concept of subsumption architecture and fuzzy reasoning technique. When applying it for a mobile robot, the robot needs to have precise information such as distance and azimuth. In this paper, we discuss how to construct the fuzzy behavior-based control system for a miniature(More)
The vertical absolute fluxes of atmospheric muons and muon charge ratio have been measured precisely at different geomagnetic locations by using the BESS spectrometer. The observations had been performed at sea level (30 m above sea level) in Tsukuba, Japan, and at 360 m above sea level in Lynn Lake, Canada. The vertical cutoff rigidities in Tsukuba (36.2◦N(More)
A control problem is studied for generating the locomotion pattern of a semi-looper type robot by applying central pattern generators (CPGs), in which such a robot can realize two-rhythm motion and green caterpillar locomotion depending on the condition of environment. After deriving the dynamical model with two links and one actuator, the simulation of the(More)
In this paper, we describe a system for controlling the perceptual processes of two cooperative mobile robots that addresses the issue of enhancing perceptual awareness. We define awareness here as knowing the location of other robots in the environment. The proposed system benefits from a formalism called perceptual anchoring. Here, perceptual anchoring(More)