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With the flurry of research on P2P computing, many P2P technical challenges have emerged, one of which is how to efficiently locate desired resources. Advances have been made in this hot research field, where the pioneers are Pastry, CAN, Chord, and Tapestry. By using the functionality of distributed hash table, they have achieved fair effectiveness.(More)
This paper describes a transition motion from ladder climbing to brachiation for the multi-locomotion robot (MLR). Though the transition motion is as complicated as human doing, the robot shoulder degrees of freedom (only 2 DOFs) are less than human. The paper presents how to make the robot complete complicated motion with limited freedoms. In order to(More)
This paper describes the transition motion from ladder climbing to brachiation for a multi-locomotion robot (MLR). The MLR has versatile modes of locomotion, such as biped walking, quadruped walking, brachiation and ladder climbing. The transition is a challenging motion, because the environmental boundaries change and the robot has to switch the form of(More)
The Document Object Model (DOM) provides a tree structure called DOM tree for representing with objects in HTML. Many researchers have considered using leaf nodes of DOM tree as basic objects in extracting information from web pages. However, web pages are more of information blocks which each have a consistent visual format rather than individual DOM tree(More)
This paper describes walk-to-brachiate transfer of a multi-locomotion robot (MLR). The MLR has multiple types of locomotion such as biped walking, quadruped walking and brachiation. This transfer is carried out through vertical ladder climbing as the robot must raise its body to start brachiating. As a result we have designed two stable transfer motions(More)
We consider a 24-degrees-of-freedom monkey robot that is supposed to perform brachiation locomotion, i.e. swinging from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point about which the robot swings is a passive hinge. We identify the 10 most relevant degrees of freedom(More)
For multi-contact robot motion, a closed chain is formed by robot links and the environment. This paper proposes a new methodology named “key joint method” for reducing the energy cost by adjusting an internal stress inside a closed chain. Firstly, we analyze the internal stress theoretically taking the degrees of freedom (DOF) and the number(More)