This paper aims to develop a method for the locomotion of a snake-like robot, and proposes a control strategy based on the friction force between robotpsilas body and the ground. Our concept of a control system design is that a control law should be based on the friction force as a real snake is. Both the motion equation of the robot and the friction force are derived by the projection method proposed by W. Blajer. The friction model is evaluated in the cost function of the control system design based on state dependent Riccati equation. As a result a derived control law takes the friction effect into account. We also build an experimental system. The effectiveness of the proposed method is verified by simulations and experiments.

Spoken monologues feature greater sentence length and structural complexity than do spoken dialogues. To achieve high parsing performance for spoken monologues, it could prove effective to simplify the structure by dividing a sentence into suitable language units. This paper proposes a method for dependency parsing of Japanese monologues based on sentence segmentation. In this method, the dependency parsing is executed in two stages: at the clause level and the sentence level. First, the dependencies within a clause are identified by dividing a sentence into clauses and executing stochastic dependency parsing for each clause. Next, the dependencies over clause boundaries are identified stochastically, and the dependency structure of the entire sentence is thus completed. An experiment using a spoken monologue corpus shows this method to be effective for efficient dependency parsing of Japanese monologue sentences.

Many studies have been reported in the domain of speech-to-speech machine translation systems for travel conversation use. Therefore, a large number of travel domain corpora have become available in recent years. From a wider viewpoint, speech-to-speech systems are required for many purposes other than travel conversation. One of these is monologues (e.g., TV news, lectures, technical presentations). However, in monologues, sentences tend to be long and complicated, which often causes problems for parsing and translation. Therefore, we need a suitable translation unit, rather than the sentence. We propose the clause as a unit for translation. To develop a speech-to-speech machine translation system for monologues based on the clause as the translation unit, we need a monologue parallel corpus with clause alignment. In this paper, we describe how to build a Japanese-English monologue parallel corpus with clauses aligned, and discuss the features of this corpus.