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Cantilevers fabricated by means of micromachining techniques are usually used for atomic force microscopy. In this paper, the spring constant of an atomic force microscope (AFM) cantilever is determined by using a large-scale cantilever. Since the spring constant of the large-scale cantilever is calibrated accurately, the spring constant of the AFM(More)
Spectral clustering is a powerful clustering method for document data set. However, spectral clustering needs to solve an eigenvalue problem of the matrix converted from the similarity matrix corresponding to the data set. Therefore, it is not practical to use spectral clustering for a large data set. To overcome this problem, we propose the method to(More)
This paper addresses a biped balancing task in which an unknown external force is exerted, using so-called 'ankle strategy' model. When an external force is periodic , a human adaptively maintains the balance, next learns how much force should be produced at the ankle joint from its repeatability, and finally memorized it as a motion pattern. To acquire(More)
In this paper, we improve an unsuper-vised learning method using the Expectation-Maximization (EM) algorithm proposed by Nigam et al. for text classification problems in order to apply it to word sense disambigua-tion (WSD) problems. The improved method stops the EM algorithm at the optimum iteration number. To estimate that number, we propose two methods.(More)
When grasping an object, friction forces are sometimes utilized effectively. This friction forces allows us to manipulate the object to various directions. Regarding such a grasped object posture, we reported an analysis on the 2D-space grasping with two contact points. Selecting the square sum of the contact forces as an evaluation function of the object(More)
When grasping an object, friction forces are sometimes utilized. Because of this friction forces, the object is manipulable to various direction. In this paper, we discuss which direction is best when contact points, the number of which is two in the 2D-space grasping or three in the 3D one, are assigned. To evaluate the object direction, we focus on the(More)
— Many biped robot control schemes adopt a zero moment point (ZMP) criterion, where the motion is initially planned as the positional trajectories such that ZMP stays within the support polygon, while the feedback control of each joint is later applied to follow the planned reference motion. Although this method is powerful, the ZMP is not always controlled(More)