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: 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 urethral compression device prevents male urinary incontinence by compressing the urethra. The device has a pressure-applying element. The urethral compression device compress the urethra. The device is designed to allow the user to manipulate the device using only one hand, if so desired.

Abstract: A urethral compression device prevents male urinary incontinence by compressing the urethra. The device has a pressure- applying element. The urethral compression device compress the urethra. The device is designed to allow the user to manipulate the device using only one hand, if so desired.

Abstract: A urethral compression device prevents male urinary incontinence by compressing the urethra. The device has a longitudinally extending pressure-applying element. The urethral compression device compress the urethra without applying undue force to other parts of the penis. The device incorporates a latching mechanism for the purpose of securing the device in a locked position with the pressure-applying element compressing the urethra of the penis. The device is designed to allow the user to manipulate the device using only one hand, if so desired.

Abstract: A urethral compression device prevents male urinary incontinence by compressing the urethra with a continuous, C-shaped structure which includes a curvilinear compression element extending from the inside surface of the structure. The urethral compression device compress the urethra without applying undue force to other parts of the penis. The device incorporates a ratchet mechanism on the ends of the C-shaped structure for the purpose of securing the device in a locked position. The device is designed to allow the user to manipulate the device using only one hand, if so desired.