The momentum equilibrium principle reveals the relative character of the spatial momentum equation in floating-base robotics. This work clarifies how to take advantage of this character in motion generation and the design of a multitask controller for a humanoid robot. We focus especially on the angular momentum of the robot and the inherent redundancy resolution problem referred to as the “momentum distribution problem.” It is shown that with a proper momentum distribution, emergent behaviors (motion synergies) can be obtained that resemble those used by humans. A real-time controller for position- and torque-controlled humanoid robots is proposed, which has a simple structure. The performance of the controller is confirmed in a simulated environment with a number of tasks, including reactive motion control to accommodate external disturbances (both continuous-force and impacts), acrobatic tasks such as somersaults and jumps, dynamic walking with various gaits and variable center of mass height, blind stepping on an unknown obstacle, and balancing on a wobble board under external disturbances.

This paper discusses a reliable wireless connection for factory through a distributed antenna system in 920MHz. In this paper, a base station that combines multiple destination nodes installed in a factory and mobile nodes are assumed. In a proposed system, multiple TXs and RXs for a base station are assumed to be fed through a single fiber with Wavelength Division Multiplexing(WDM) or Time Division Multiplexing(TDM) technique with a concept of radio over fiber(RoF). Diversity combining technique are investigated for multiple antenna reception through measurement campaigns in a laboratory room that mimics a factory environment.