Abstract: A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.

Abstract: A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.

Abstract: The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.

Abstract: A robot comprises: a plurality of limbs having joints; a driving section for driving said joints periodically; and a controller capable of performing operations of: deriving a center position of reaction forces received from ground contacting parts and a change in the center position; calculating a phase concerning periodic movement of own dynamical system elements on the basis of the center position and the change in the center position having been derived; calculating a phase of control system elements for controlling the periodic movement, on the basis of the calculated phase of the own dynamical system elements; calculating a desired value of an angle of the joints on the basis of the calculated phase of the control system elements; and outputting the calculated desired value of the angle as a desired control value to said driving section, wherein in accordance with the desired control value outputted from said controller, said driving section drives said joints periodically so that periodic movement is p

Abstract: A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.

Abstract: The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.

Abstract: An interlayer for a laminated glass, said interlayer being composed of a film or sheet of a thermoplastic resin, at least one surface of the film or sheet of a thermoplastic resin having numerous coarse raised and depressed portions and numerous fine raised and depressed portions existing on the surfaces of the coarse raised and depressed portions, the average distance between two adjacent coarse depressed or raised portions being about 2 to about 10 times the 10-point average roughness of the coarse raised and depressed portions measured in accordance with ISO-R468.

Abstract: A method of extruding and shaping thermoplastic material in which a constant amount of thermoplastic material is continuously fed from a screw extruder to a die by means of a metering pump. The extruder is arranged to continuously receive a constant amount of the thermoplastic material. The metering pump is adjusted to the correct rotational frequency to maintain the pressure of the molten thermoplastic material between the extruder and the metering pump within a predetermined range.