Polynomial Design of Dynamics-based Information Processing System

  • Masafumi Okada
  • Yoshihiko Nakamura
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 4)


For the development of the intelligent robot with many degree-of-freedom, the reduction of the whole body motion and the implementation of the brain-like information system is necessary. In this paper, we propose the reduction method of the whole body motion based on the singular value decomposition and design method of the brain-like information processing system using the nonlinear dynamics with polynomial configuration. By using the proposed method, we design the humanoid whole body motion that is caused by the input sensor signals.


Input Signal Mobile Robot Dimensional Space Body Motion Joint Angle 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Masafumi Okada
    • 1
  • Yoshihiko Nakamura
    • 1
  1. 1.Univ. of TokyoJAPAN

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