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This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator… (More)
We have suggested a novel statics and force control can be achieved in a more simple way by using the biarticular muscle coordinate. In order to verify these characteristics, a robot arm with two links that are driven by planetary gear is developed in this paper.
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Blind adaptive linear receivers for direct sequence code-division multiple access (DS-CDMA) system are promising techniques for interference suppression and can be used in the situation where a training sequence is not available. This paper describes a method on blind estimation for the DS-CDMA signal whose temporal signature waveform has intersymbol… (More)
To accommodate information streams with different data rates over a direct-sequence code-division multiple-access (DS-CDMA) network is required due to a large variety of information sources, such as voice, data, and images. This paper provides a novel adaptive blind estimating method for dual-rate DS-CDMA signals. The underlying idea is to estimate the… (More)
— This paper proposes totally novel kinematics, statics and dynamics of a two-link manipulator and develops a control algorithm based on them which enables two-link manipulators behave more like human or animals. There are two main points: introduction of biarticular muscle/actuator coordination and utilization of the rotating reference frame instead of the… (More)
—In this paper, we attempt to equip the bi-articular driving system with a robot arm. Bi-articular driving system is a unique actuator of animals and contribute to animals' flexible motion control. The arm has an actuator that can drive two joints simultaneously, so there is difference between conventional robot arms and the robot arm. Conventional robots… (More)