One of the problems in imitation between humans and robotd is embodiment gap. Therefore, in this paper, we propose a system that realizes movement level imitation between humans and robots for embodiment gap. We target embodiment gap arising from link length and number of joints, and estimate embodiment gap by solving not only the inverse kinematics but also the forward kinematics using the Levenbarg-Marquart method. By doing this, human movement is separated into end-effector-oriented movement and joint angle-oriented movement according to the robot's own embodiment. Then, based on the separated movement, we realize the imitation of movement using Behavior Cloning based Energy-Based Model. We applied the proposed method to a small humanoid robot and verified its effectiveness. As a result, we confirmed that the proposed method separates human movement dependent on the robot's embodiment. In addition, we realized the imitation learning of movement corresponding to embodiment gap estimated from the separated human movement.

Ethernet Passive Optical Network (EPON) systems have been deployed widely as a broadband access network solution. Recently, 10Gigabit EPON (10G-EPON) has been investigated as one of the next optical access network solutions. In 10G-EPON system, one of the key technologies is the Dynamic Bandwidth Allocation (DBA) which achieves the high bandwidth efficiency and provides high data throughput for the end users. In this paper, we propose a new DBA algorithm: Adaptive DBA (AD-DBA) which is adaptively switching status-reporting method and traffic monitoring method according to the traffic load and achieves high data throughput and low data transmission delay. Then, we report the evaluation results of proposed algorithm with our 10G-EPON prototype system.

An approach to designing controllers for dynamic hybrid position/force control of robot manipulators is presented, and preliminary experimental results are given. Dynamic hybrid control is an extension of an approach proposed by M.H. Raibert and J.J. Craig (1981) to the case where the full manipulator dynamics is taken into consideration and the end-effector constraint is explicitly given by the constraint hypersurfaces. This design method consists of two steps. The first step is the linearization of the manipulator dynamics by nonlinear state feedback. Formulation of the constraint by the constraint hypersurfaces plays an essential role in establishing the linearizing law. The second step is the design of position and force controllers for the linearized model using the concept of two-degrees-of-freedom servocontroller. The merit of this servocontroller is that it can take account of both the command response and the robustness of the controllers to modeling errors and disturbances. Preliminary experiments using a SCARA robot show the validity of the approach.>

An approach to designing controllers for dynamic hybrid position/force control of robot maniulators is presented and preliminary experimental results are given. Dynamic hybrid control is an extension of the hybrid control approach proposed by Raibert and Craig to the case where the full manipulator dynamics is taken into consideration. This design method consists of two steps. The first step is the linearization of the manipulator dynamics by nonlinear state feedback. The second step is the design of position and force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbances. Preliminary experiments using a SCARA robot show the validity of the approach.