Recently, the technology of biped humanoid robots has progressed to the point where it has the potential to realize complex tasks with the whole body. The goal of this study is imitating human dance motions for preservation of traditional dances. The problem with dance imitation is the difference of body structure and physical properties between humans and robots. This study describes how we so...

In order to obtain reference curves for data sets when the covariate is multidimensional, we propose a new methodology based on dimension-reduction and nonparametric estimation of conditional quantiles. This semiparametric approach combines sliced inverse regression (SIR) and a kernel estimation of conditional quantiles. The convergence of the derived estimator is shown. By a simulation study, ...

The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presen...

We obtain the maximum likelihood estimator of the central subspace under conditional normality of the predictors given the response. Analytically and in simulations we found that our new estimator can preform much better than sliced inverse regression, sliced average variance estimation and directional regression, and that it seems quite robust to deviations from normality.

This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator’s joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective thr...

This paper presents the algorithms to interactively optimize the tool path of the five-axis milling machine. The algorithms employ the inverse kinematics to derive the corresponding trajectories (rotation and translation movement) of the five-axis machine. The trajectory of the tool path is not unique and depends on the initial set up of the workpiece as well as the combined rotations of the ma...

In this paper, the kinematics and inverse dynamics of a novel kind of mechanism called a general 3-PRS parallel mechanism is investigated. In the kinematics study, the inverse kinematics solution is derived in closed form, and the forward kinematics problem is resolved by the Newton iterative method seeking for an on-line solution to this issue. The inverse dynamics analysis is approached with ...

This paper addresses the problem regarding the parameter exploration of Multi-Agent Based Simulation for social systems. We focus on the principles of Inverse Simulation and Genetics-Based Validation. In conventional artificial society models, the simulation is executed straightforwardly: Initially, many micro-level parameters and initial conditions are set, then, the simulation steps are execu...

In this paper, new aspects of treatment comparison are brought out via the dimension reduction model of Li (1991) for general regression settings. Denote the treatment indicator by Z and the covariate by X. The model Y = g(v 0 X + Z;) is discussed in detail. Estimates of v and are obtained without assuming a functional form for g. Our method is based on the use of SIR (sliced inverse regression...

Films like Shrek, Madagascar, The Chronicles of Narnia and Charlotte’s web all have something in common: realistic quadruped animations. While the animation of animals has been popular for a long time, the technical challenges associated with creating highly realistic, computer generated creatures have been receiving increasing attention recently. The entertainment, education and medical indust...