Toshikazu Yoshitake

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In this paper, we propose an obstacle avoidance method for autonomous locomotion control of a snake robot. The snake robot consists of rigid links, active joints and passive wheels, and can move only by varying its shape. The pass planning for the obstacle avoidance is a complicated problem because the snake robot has many states, control inputs and the(More)
—The rapid growth in telecommunication traffic demands a higher-speed asynchronous transfer mode (ATM) switching system. At present, the upper limit of the system clock rate is determined by the maximum clock rate of conventional semiconductor memory devices, such as the register files used in ATM cell buffer storage. This is because the maximum clock rate(More)
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