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The robot interprets the target posture using multiple postural primitives.

Based on further analysis and speculations, the proposal was made that the entire phase space for a dynamic whole body task has non-uniform structures with sparse critical points where the phase trajectories traverse.

The system behaves in a "boot-strap" (self-referential) manner in the sense that learning modifies explorative behavior.

A spatio-temporal correlation network with adaptivity.

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