Safety and robustness will become critical issues when hu-manoid robots start sharing human environments in the future. In physically interactive human environments, a catastrophic fall is the main threat to safety and smooth operation of humanoid robots, and thus it is critical to explore how to manage an unavoidable fall of humanoids. This paper deals… (More)
Safety and robustness will become critical issues when humanoid robots start sharing human environments in the future. In physically interactive human environments, a catastrophic fall is a major threat to the safety and smooth operation of humanoid robots. It is, therefore, imperative that humanoid robots be equipped with a comprehensive fall management… (More)
Figure 1: Our biomechanical system comprises a skeleton, muscles, neural control system, and an expressive face.
In this paper, a novel caudal fin for actuating a robotic fish is presented. The proposed caudal fin waves in a vertical direction with a specific spatial shape, which is determined by a so-called shape factor. For a specific shape factor, a traveling wave with a vertical phase difference is formed on a caudal fin during fin motion. It will be shown by the… (More)
This paper investigates how a pair of signals about the type of the agent can be compared in the classical principal agent model with adverse selection. Signal comparison in this model has two distinctive features that make it dicult to directly apply the results from decision theory: timing of the game and the number of incentive compatibility constraint.… (More)