WEBVTT Kind: captions Language: en 00:00:00.480 --> 00:00:03.350 align:start position:0% so<00:00:01.199> if<00:00:01.360> we<00:00:01.520> can<00:00:01.760> start<00:00:02.080> with<00:00:02.320> you<00:00:02.720> just<00:00:03.040> telling 00:00:03.350 --> 00:00:03.360 align:start position:0% so if we can start with you just telling 00:00:03.360 --> 00:00:04.230 align:start position:0% so if we can start with you just telling us<00:00:03.520> your<00:00:03.760> name 00:00:04.230 --> 00:00:04.240 align:start position:0% us your name 00:00:04.240 --> 00:00:06.710 align:start position:0% us your name and<00:00:04.560> where<00:00:04.799> you<00:00:04.960> were<00:00:05.120> born<00:00:05.440> and<00:00:05.600> when<00:00:06.000> okay<00:00:06.319> so 00:00:06.710 --> 00:00:06.720 align:start position:0% and where you were born and when okay so 00:00:06.720 --> 00:00:07.590 align:start position:0% and where you were born and when okay so my<00:00:06.879> name<00:00:07.200> is 00:00:07.590 --> 00:00:07.600 align:start position:0% my name is 00:00:07.600 --> 00:00:10.629 align:start position:0% my name is uh<00:00:08.240> malcolm<00:00:08.800> kaneko<00:00:10.000> so 00:00:10.629 --> 00:00:10.639 align:start position:0% uh malcolm kaneko so 00:00:10.639 --> 00:00:14.390 align:start position:0% uh malcolm kaneko so i<00:00:11.440> born<00:00:11.920> at<00:00:12.320> uh 00:00:14.390 --> 00:00:14.400 align:start position:0% i born at uh 00:00:14.400 --> 00:00:17.590 align:start position:0% i born at uh hagie<00:00:15.120> is<00:00:15.360> a<00:00:15.440> very<00:00:15.759> small<00:00:16.080> city<00:00:16.640> is<00:00:16.960> a<00:00:17.279> west 00:00:17.590 --> 00:00:17.600 align:start position:0% hagie is a very small city is a west 00:00:17.600 --> 00:00:19.670 align:start position:0% hagie is a very small city is a west part<00:00:17.920> of<00:00:18.080> japan 00:00:19.670 --> 00:00:19.680 align:start position:0% part of japan 00:00:19.680 --> 00:00:22.710 align:start position:0% part of japan and<00:00:20.080> okay<00:00:20.800> that's<00:00:21.359> it 00:00:22.710 --> 00:00:22.720 align:start position:0% and okay that's it 00:00:22.720 --> 00:00:24.710 align:start position:0% and okay that's it and<00:00:22.880> when<00:00:23.039> were<00:00:23.279> you<00:00:23.439> born<00:00:24.480> um 00:00:24.710 --> 00:00:24.720 align:start position:0% and when were you born um 00:00:24.720 --> 00:00:28.830 align:start position:0% and when were you born um [Music] 00:00:28.830 --> 00:00:28.840 align:start position:0% 00:00:28.840 --> 00:00:30.230 align:start position:0% 1954 00:00:30.230 --> 00:00:30.240 align:start position:0% 1954 00:00:30.240 --> 00:00:33.750 align:start position:0% 1954 january<00:00:30.800> 18th<00:00:32.719> and<00:00:32.880> could<00:00:33.120> you<00:00:33.280> tell<00:00:33.520> us<00:00:33.680> a 00:00:33.750 --> 00:00:33.760 align:start position:0% january 18th and could you tell us a 00:00:33.760 --> 00:00:34.790 align:start position:0% january 18th and could you tell us a little<00:00:33.920> bit<00:00:34.160> about<00:00:34.399> your 00:00:34.790 --> 00:00:34.800 align:start position:0% little bit about your 00:00:34.800 --> 00:00:39.030 align:start position:0% little bit about your early<00:00:35.120> interests<00:00:35.600> in<00:00:35.840> school 00:00:39.030 --> 00:00:39.040 align:start position:0% 00:00:39.040 --> 00:00:44.389 align:start position:0% high<00:00:39.200> school<00:00:42.840> so 00:00:44.389 --> 00:00:44.399 align:start position:0% high school so 00:00:44.399 --> 00:00:47.430 align:start position:0% high school so [ __ ]<00:00:44.800> kind<00:00:45.200> of<00:00:45.520> uh<00:00:46.559> like<00:00:46.719> how<00:00:46.879> did<00:00:47.039> you<00:00:47.200> get 00:00:47.430 --> 00:00:47.440 align:start position:0% [ __ ] kind of uh like how did you get 00:00:47.440 --> 00:00:48.069 align:start position:0% [ __ ] kind of uh like how did you get interested 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position:0% and such as that<00:01:10.400> is<00:01:10.799> already<00:01:12.799> 50 00:01:13.990 --> 00:01:14.000 align:start position:0% that is already 50 00:01:14.000 --> 00:01:17.190 align:start position:0% that is already 50 50<00:01:14.400> years<00:01:14.640> ago<00:01:15.920> so 00:01:17.190 --> 00:01:17.200 align:start position:0% 50 years ago so 00:01:17.200 --> 00:01:20.390 align:start position:0% 50 years ago so my<00:01:17.439> city<00:01:17.759> is<00:01:18.000> very<00:01:18.240> small<00:01:18.880> is<00:01:19.360> population<00:01:20.159> is 00:01:20.390 --> 00:01:20.400 align:start position:0% my city is very small is population is 00:01:20.400 --> 00:01:21.910 align:start position:0% my city is very small is population is just 00:01:21.910 --> 00:01:21.920 align:start position:0% just 00:01:21.920 --> 00:01:25.510 align:start position:0% just 50<00:01:22.400> 000.<00:01:22.880> it<00:01:23.280> looks<00:01:23.520> like<00:01:23.759> this<00:01:24.080> city 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insects so the i enjoyed a lot 00:01:40.000 --> 00:01:44.069 align:start position:0% insects so the i enjoyed a lot so<00:01:40.159> i<00:01:40.320> think<00:01:40.560> so<00:01:42.640> if<00:01:42.799> you're<00:01:43.040> working<00:01:43.520> in<00:01:43.759> this 00:01:44.069 --> 00:01:44.079 align:start position:0% so i think so if you're working in this 00:01:44.079 --> 00:01:45.270 align:start position:0% so i think so if you're working in this um 00:01:45.270 --> 00:01:45.280 align:start position:0% um 00:01:45.280 --> 00:01:49.030 align:start position:0% um some<00:01:45.920> robotics<00:01:46.560> or<00:01:46.720> something<00:01:47.040> like<00:01:47.280> that<00:01:48.079> and 00:01:49.030 --> 00:01:49.040 align:start position:0% some robotics or something like that and 00:01:49.040 --> 00:01:51.270 align:start position:0% some robotics or something like that and building<00:01:49.439> up<00:01:49.600> something<00:01:50.240> and<00:01:50.640> all<00:01:51.040> the 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position:0% and so actually looking at the animals 00:02:13.520 --> 00:02:14.710 align:start position:0% and so actually looking at the animals and<00:02:13.599> nature 00:02:14.710 --> 00:02:14.720 align:start position:0% and nature 00:02:14.720 --> 00:02:17.910 align:start position:0% and nature made<00:02:14.959> you<00:02:15.120> think<00:02:15.360> about<00:02:16.640> also<00:02:17.120> constructing 00:02:17.910 --> 00:02:17.920 align:start position:0% made you think about also constructing 00:02:17.920 --> 00:02:22.229 align:start position:0% made you think about also constructing yes<00:02:18.319> i<00:02:18.560> constructed<00:02:19.360> many<00:02:20.080> toys<00:02:20.640> by<00:02:20.879> myself 00:02:22.229 --> 00:02:22.239 align:start position:0% yes i constructed many toys by myself 00:02:22.239 --> 00:02:28.470 align:start position:0% yes i constructed many toys by myself and<00:02:22.560> i<00:02:22.800> enjoy<00:02:23.120> a<00:02:23.280> lot<00:02:24.480> yes 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position:0% my undergraduate degree spent in 00:02:39.040 --> 00:02:42.630 align:start position:0% my undergraduate degree spent in the<00:02:39.519> nutrition<00:02:40.080> institute<00:02:40.640> of<00:02:40.720> technology 00:02:42.630 --> 00:02:42.640 align:start position:0% the nutrition institute of technology 00:02:42.640 --> 00:02:45.880 align:start position:0% the nutrition institute of technology and<00:02:43.360> then<00:02:44.640> okay<00:02:45.360> i 00:02:45.880 --> 00:02:45.890 align:start position:0% and then okay i 00:02:45.890 --> 00:02:47.270 align:start position:0% and then okay i [Music] 00:02:47.270 --> 00:02:47.280 align:start position:0% [Music] 00:02:47.280 --> 00:02:51.030 align:start position:0% [Music] i<00:02:48.160> decided<00:02:49.040> to<00:02:49.280> go<00:02:49.519> to<00:02:50.239> the 00:02:51.030 --> 00:02:51.040 align:start position:0% i decided to go to the 00:02:51.040 --> 00:02:54.630 align:start position:0% i decided to go to the upper<00:02:52.879> graduate 00:02:54.630 --> 00:02:54.640 align:start position:0% upper graduate 00:02:54.640 --> 00:02:57.670 align:start position:0% upper graduate school<00:02:56.080> and<00:02:56.400> then<00:02:56.959> okay 00:02:57.670 --> 00:02:57.680 align:start position:0% school and then okay 00:02:57.680 --> 00:03:01.190 align:start position:0% school and then okay i<00:02:58.640> i<00:02:58.879> decided<00:02:59.599> to<00:03:00.080> go<00:03:00.319> to<00:03:00.480> tokyo<00:03:00.800> university 00:03:01.190 --> 00:03:01.200 align:start position:0% i i decided to go to tokyo university 00:03:01.200 --> 00:03:03.589 align:start position:0% i i decided to go to tokyo university because<00:03:01.680> the 00:03:03.589 --> 00:03:03.599 align:start position:0% because the 00:03:03.599 --> 00:03:06.470 align:start position:0% because the of university<00:03:05.120> it's<00:03:05.440> the<00:03:05.680> first<00:03:06.000> university 00:03:06.470 --> 00:03:06.480 align:start position:0% of university it's the first university 00:03:06.480 --> 00:03:07.589 align:start position:0% of university it's the first university in<00:03:06.560> japan 00:03:07.589 --> 00:03:07.599 align:start position:0% in japan 00:03:07.599 --> 00:03:10.949 align:start position:0% in japan perhaps<00:03:08.319> i<00:03:08.480> have<00:03:09.200> i<00:03:09.519> thought<00:03:10.560> i 00:03:10.949 --> 00:03:10.959 align:start position:0% perhaps i have i thought i 00:03:10.959 --> 00:03:14.390 align:start position:0% perhaps i have i thought i have<00:03:11.200> a<00:03:11.599> chance<00:03:13.599> to 00:03:14.390 --> 00:03:14.400 align:start position:0% have a chance to 00:03:14.400 --> 00:03:18.550 align:start position:0% have a chance to meet<00:03:16.840> with 00:03:18.550 --> 00:03:18.560 align:start position:0% meet with 00:03:18.560 --> 00:03:21.910 align:start position:0% meet with some<00:03:19.360> distinguished<00:03:20.400> professors<00:03:21.040> there 00:03:21.910 --> 00:03:21.920 align:start position:0% some distinguished professors there 00:03:21.920 --> 00:03:26.550 align:start position:0% some distinguished professors there that's<00:03:22.480> my<00:03:23.440> my<00:03:23.840> big<00:03:24.080> motivation 00:03:26.550 --> 00:03:26.560 align:start position:0% that's my my big motivation 00:03:26.560 --> 00:03:31.430 align:start position:0% that's my my big motivation to<00:03:27.120> decide 00:03:31.430 --> 00:03:31.440 align:start position:0% 00:03:31.440 --> 00:03:34.550 align:start position:0% but university<00:03:31.680> that<00:03:31.920> time<00:03:32.400> is<00:03:33.920> no 00:03:34.550 --> 00:03:34.560 align:start position:0% but university that time is no 00:03:34.560 --> 00:03:37.910 align:start position:0% but university that time is no i<00:03:34.799> can<00:03:35.040> i<00:03:35.440> didn't<00:03:35.920> figure<00:03:36.239> out<00:03:36.640> any 00:03:37.910 --> 00:03:37.920 align:start position:0% i can i didn't figure out any 00:03:37.920 --> 00:03:42.149 align:start position:0% i can i didn't figure out any future<00:03:39.360> work<00:03:40.000> such<00:03:40.239> as<00:03:40.480> robotics 00:03:42.149 --> 00:03:42.159 align:start position:0% future work such as robotics 00:03:42.159 --> 00:03:45.430 align:start position:0% future work such as robotics just<00:03:42.720> i<00:03:43.280> wanted<00:03:43.680> to<00:03:43.920> go<00:03:44.080> to 00:03:45.430 --> 00:03:45.440 align:start position:0% just i wanted to go to 00:03:45.440 --> 00:03:48.390 align:start position:0% just i wanted to go to to<00:03:45.599> graduate<00:03:46.159> school<00:03:47.760> what<00:03:47.920> was<00:03:48.159> your 00:03:48.390 --> 00:03:48.400 align:start position:0% to graduate school what was your 00:03:48.400 --> 00:03:50.470 align:start position:0% to graduate school what was your undergraduate<00:03:49.200> degree<00:03:49.599> in 00:03:50.470 --> 00:03:50.480 align:start position:0% undergraduate degree in 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align:start position:0% oh actually not 00:04:01.840 --> 00:04:03.589 align:start position:0% oh actually not because<00:04:02.239> this<00:04:02.480> is<00:04:02.640> a<00:04:02.720> completely<00:04:03.120> different 00:04:03.589 --> 00:04:03.599 align:start position:0% because this is a completely different 00:04:03.599 --> 00:04:04.949 align:start position:0% because this is a completely different university<00:04:04.480> i 00:04:04.949 --> 00:04:04.959 align:start position:0% university i 00:04:04.959 --> 00:04:08.149 align:start position:0% university i i<00:04:05.200> have<00:04:05.439> some<00:04:05.680> informations<00:04:07.760> harming 00:04:08.149 --> 00:04:08.159 align:start position:0% i have some informations harming 00:04:08.159 --> 00:04:09.589 align:start position:0% i have some informations harming professor<00:04:08.799> and 00:04:09.589 --> 00:04:09.599 align:start position:0% professor and 00:04:09.599 --> 00:04:12.830 align:start position:0% professor and for<00:04:09.840> each<00:04:10.159> professor<00:04:10.959> is<00:04:11.200> doing<00:04:12.080> a<00:04:12.239> kind<00:04:12.560> of 00:04:12.830 --> 00:04:12.840 align:start position:0% for each professor is doing a kind of 00:04:12.840 --> 00:04:14.070 align:start position:0% for each professor is doing a kind of subject 00:04:14.070 --> 00:04:14.080 align:start position:0% subject 00:04:14.080 --> 00:04:18.469 align:start position:0% subject and<00:04:15.680> but<00:04:15.920> i<00:04:16.560> i<00:04:16.880> could<00:04:17.120> not<00:04:17.359> figure<00:04:17.680> out 00:04:18.469 --> 00:04:18.479 align:start position:0% and but i i could not figure out 00:04:18.479 --> 00:04:21.509 align:start position:0% and but i i could not figure out which<00:04:18.880> professor<00:04:19.440> is<00:04:19.840> appropriate<00:04:20.400> to<00:04:20.560> me<00:04:21.280> but 00:04:21.509 --> 00:04:21.519 align:start position:0% which professor is appropriate to me but 00:04:21.519 --> 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free dynamics is free damage that<00:04:50.000> i<00:04:50.160> hear<00:04:51.759> still 00:04:52.390 --> 00:04:52.400 align:start position:0% that i hear still 00:04:52.400 --> 00:04:55.430 align:start position:0% that i hear still here<00:04:52.720> alliance<00:04:54.080> he<00:04:54.240> was<00:04:54.560> like<00:04:54.960> he's<00:04:55.280> a 00:04:55.430 --> 00:04:55.440 align:start position:0% here alliance he was like he's a 00:04:55.440 --> 00:05:00.950 align:start position:0% here alliance he was like he's a grateful<00:04:55.919> he<00:04:56.160> was<00:04:56.400> a<00:04:56.479> great<00:04:56.800> professor<00:04:57.360> for<00:04:57.600> me 00:05:00.950 --> 00:05:00.960 align:start position:0% 00:05:00.960 --> 00:05:04.550 align:start position:0% okay<00:05:01.440> he<00:05:01.840> just<00:05:02.639> gave<00:05:02.880> us<00:05:03.199> uh 00:05:04.550 --> 00:05:04.560 align:start position:0% okay he just gave us uh 00:05:04.560 --> 00:05:08.070 align:start position:0% okay he just gave us uh topics<00:05:05.600> okay<00:05:06.400> not<00:05:06.639> precisely 00:05:08.070 --> 00:05:08.080 align:start position:0% topics okay not precisely 00:05:08.080 --> 00:05:11.990 align:start position:0% topics okay not precisely just<00:05:08.400> the<00:05:08.800> topic<00:05:09.280> jumping<00:05:09.840> just<00:05:10.160> like<00:05:10.560> a 00:05:11.990 --> 00:05:12.000 align:start position:0% just the topic jumping just like a 00:05:12.000 --> 00:05:16.150 align:start position:0% just the topic jumping just like a program<00:05:14.080> not<00:05:14.400> precisely<00:05:15.120> and<00:05:15.360> after<00:05:15.680> that 00:05:16.150 --> 00:05:16.160 align:start position:0% program not precisely and after that 00:05:16.160 --> 00:05:20.070 align:start position:0% program not precisely and after that he<00:05:16.479> didn't<00:05:16.960> say<00:05:17.280> anything<00:05:18.639> just<00:05:19.039> which<00:05:19.360> i<00:05:19.600> can 00:05:20.070 --> 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i<00:05:31.280> go<00:05:32.720> go<00:05:33.120> to<00:05:33.440> the<00:05:33.759> different<00:05:34.240> direction 00:05:35.270 --> 00:05:35.280 align:start position:0% when i go go to the different direction 00:05:35.280 --> 00:05:38.150 align:start position:0% when i go go to the different direction so<00:05:35.520> as<00:05:35.759> far<00:05:36.000> as<00:05:36.160> i<00:05:36.320> can<00:05:36.560> go<00:05:36.800> straight<00:05:37.600> he<00:05:37.759> didn't 00:05:38.150 --> 00:05:38.160 align:start position:0% so as far as i can go straight he didn't 00:05:38.160 --> 00:05:39.350 align:start position:0% so as far as i can go straight he didn't say<00:05:38.320> anything 00:05:39.350 --> 00:05:39.360 align:start position:0% say anything 00:05:39.360 --> 00:05:42.629 align:start position:0% say anything yeah<00:05:39.680> i<00:05:40.000> love<00:05:40.240> that<00:05:40.479> kind<00:05:40.720> of<00:05:40.800> style<00:05:42.240> what<00:05:42.400> was 00:05:42.629 --> 00:05:42.639 align:start position:0% yeah i love that kind of style what was 00:05:42.639 --> 00:05:47.590 align:start position:0% yeah i love that kind of style what was his<00:05:42.880> name 00:05:47.590 --> 00:05:47.600 align:start position:0% 00:05:47.600 --> 00:05:50.950 align:start position:0% yeah<00:05:50.479> so 00:05:50.950 --> 00:05:50.960 align:start position:0% yeah so 00:05:50.960 --> 00:05:54.230 align:start position:0% yeah so yeah<00:05:51.520> okay<00:05:52.160> yeah<00:05:53.360> he<00:05:53.600> he 00:05:54.230 --> 00:05:54.240 align:start position:0% yeah okay yeah he he 00:05:54.240 --> 00:05:56.960 align:start position:0% yeah okay yeah he he he<00:05:54.800> often<00:05:55.440> says<00:05:55.840> that<00:05:56.400> it's 00:05:56.960 --> 00:05:56.970 align:start position:0% he often says that it's 00:05:56.970 --> 00:06:01.350 align:start position:0% he often says that it's [Music] 00:06:01.350 --> 00:06:01.360 align:start position:0% 00:06:01.360 --> 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nature<00:06:26.160> never 00:06:27.430 --> 00:06:27.440 align:start position:0% because the nature never 00:06:27.440 --> 00:06:30.790 align:start position:0% because the nature never they<00:06:28.000> never<00:06:28.479> it<00:06:28.720> never<00:06:29.360> tell<00:06:29.680> a<00:06:29.919> lie 00:06:30.790 --> 00:06:30.800 align:start position:0% they never it never tell a lie 00:06:30.800 --> 00:06:34.870 align:start position:0% they never it never tell a lie but<00:06:32.840> people<00:06:33.840> say 00:06:34.870 --> 00:06:34.880 align:start position:0% but people say 00:06:34.880 --> 00:06:37.510 align:start position:0% but people say some<00:06:35.120> different<00:06:35.759> words<00:06:36.319> depending<00:06:36.960> upon<00:06:37.360> the 00:06:37.510 --> 00:06:37.520 align:start position:0% some different words depending upon the 00:06:37.520 --> 00:06:38.950 align:start position:0% some different words depending upon the situation 00:06:38.950 --> 00:06:38.960 align:start position:0% situation 00:06:38.960 --> 00:06:42.390 align:start position:0% situation but<00:06:39.280> nature<00:06:39.759> never<00:06:40.880> never<00:06:41.360> say 00:06:42.390 --> 00:06:42.400 align:start position:0% but nature never never say 00:06:42.400 --> 00:06:45.990 align:start position:0% but nature never never say lie<00:06:42.800> tell<00:06:43.039> a<00:06:43.199> lie<00:06:44.240> so<00:06:44.479> we<00:06:44.720> i<00:06:45.120> learned<00:06:45.440> that<00:06:45.680> kind 00:06:45.990 --> 00:06:46.000 align:start position:0% lie tell a lie so we i learned that kind 00:06:46.000 --> 00:06:46.870 align:start position:0% lie tell a lie so we i learned that kind of 00:06:46.870 --> 00:06:46.880 align:start position:0% of 00:06:46.880 --> 00:06:49.909 align:start position:0% of rule<00:06:47.360> very<00:06:47.759> basic<00:06:48.319> rule<00:06:48.880> so<00:06:49.280> i<00:06:49.440> love<00:06:49.759> the 00:06:49.909 --> 00:06:49.919 align:start position:0% rule very basic rule so i love the 00:06:49.919 --> 00:06:51.670 align:start position:0% rule very basic rule so i love the research 00:06:51.670 --> 00:06:51.680 align:start position:0% research 00:06:51.680 --> 00:06:55.189 align:start position:0% research okay<00:06:52.960> and<00:06:53.120> so<00:06:53.440> what<00:06:54.000> kind<00:06:54.319> what<00:06:54.639> topic 00:06:55.189 --> 00:06:55.199 align:start position:0% okay and so what kind what topic 00:06:55.199 --> 00:07:00.150 align:start position:0% okay and so what kind what topic did<00:06:55.840> um<00:06:57.599> that<00:06:57.840> is<00:06:58.080> very<00:06:58.479> interesting<00:06:59.039> topics 00:07:00.150 --> 00:07:00.160 align:start position:0% did um that is very interesting topics 00:07:00.160 --> 00:07:03.189 align:start position:0% did um that is very interesting topics um<00:07:00.880> for<00:07:01.120> example<00:07:02.000> it's<00:07:02.240> very<00:07:02.880> uh 00:07:03.189 --> 00:07:03.199 align:start position:0% um for example it's very uh 00:07:03.199 --> 00:07:06.230 align:start position:0% um for example it's very uh the<00:07:03.360> topic<00:07:03.840> very<00:07:04.560> related<00:07:05.280> with<00:07:05.599> the 00:07:06.230 --> 00:07:06.240 align:start position:0% the topic very related with the 00:07:06.240 --> 00:07:09.430 align:start position:0% the topic very related with the current<00:07:06.800> japan<00:07:07.280> situation<00:07:08.479> i<00:07:08.639> mean<00:07:09.039> the 00:07:09.430 --> 00:07:09.440 align:start position:0% current japan situation i mean the 00:07:09.440 --> 00:07:13.029 align:start position:0% current japan situation i mean the uh<00:07:10.080> heavy<00:07:10.400> very<00:07:10.720> big<00:07:10.960> earthquake<00:07:12.000> and<00:07:12.400> then<00:07:12.800> at 00:07:13.029 --> 00:07:13.039 align:start position:0% uh heavy very big earthquake and then at 00:07:13.039 --> 00:07:13.350 align:start position:0% uh heavy very big earthquake and then at the 00:07:13.350 --> 00:07:13.360 align:start position:0% the 00:07:13.360 --> 00:07:16.469 align:start position:0% the power<00:07:13.680> planted<00:07:14.319> destroyed<00:07:15.520> and 00:07:16.469 --> 00:07:16.479 align:start position:0% power planted destroyed and 00:07:16.479 --> 00:07:20.469 align:start position:0% power planted destroyed and due<00:07:16.720> to<00:07:16.960> the<00:07:17.199> lack<00:07:17.759> of<00:07:18.880> current<00:07:19.520> water 00:07:20.469 --> 00:07:20.479 align:start position:0% due to the lack of current water 00:07:20.479 --> 00:07:24.070 align:start position:0% due to the lack of current water and<00:07:20.720> then<00:07:21.039> its<00:07:22.080> heaviest<00:07:23.280> that<00:07:23.599> is<00:07:23.840> the 00:07:24.070 --> 00:07:24.080 align:start position:0% and then its heaviest that is the 00:07:24.080 --> 00:07:24.710 align:start position:0% and then its heaviest that is the heaviest 00:07:24.710 --> 00:07:24.720 align:start position:0% heaviest 00:07:24.720 --> 00:07:28.070 align:start position:0% heaviest situation<00:07:26.160> so<00:07:26.400> the<00:07:26.639> mine<00:07:27.199> at<00:07:27.440> that<00:07:27.680> time 00:07:28.070 --> 00:07:28.080 align:start position:0% situation so the mine at that time 00:07:28.080 --> 00:07:31.350 align:start position:0% situation so the mine at that time almost<00:07:28.560> say<00:07:28.960> 30<00:07:29.520> 30<00:07:30.000> years<00:07:30.240> ago 00:07:31.350 --> 00:07:31.360 align:start position:0% almost say 30 30 years ago 00:07:31.360 --> 00:07:35.029 align:start position:0% almost say 30 30 years ago and<00:07:32.160> my<00:07:32.400> professor<00:07:33.120> she 00:07:35.029 --> 00:07:35.039 align:start position:0% and my professor she 00:07:35.039 --> 00:07:37.909 align:start position:0% and my professor she suggest<00:07:35.599> me<00:07:35.919> to<00:07:36.800> to<00:07:37.039> do<00:07:37.280> the<00:07:37.520> following 00:07:37.909 --> 00:07:37.919 align:start position:0% suggest me to to do the following 00:07:37.919 --> 00:07:38.550 align:start position:0% suggest me to to do the following research 00:07:38.550 --> 00:07:38.560 align:start position:0% research 00:07:38.560 --> 00:07:42.309 align:start position:0% research is<00:07:39.120> researched<00:07:39.759> just<00:07:40.080> like<00:07:41.120> pumping 00:07:42.309 --> 00:07:42.319 align:start position:0% is researched just like pumping 00:07:42.319 --> 00:07:45.110 align:start position:0% is researched just like pumping performance<00:07:43.440> but<00:07:43.680> this<00:07:44.000> pump<00:07:44.319> is<00:07:44.479> only<00:07:44.879> for 00:07:45.110 --> 00:07:45.120 align:start position:0% performance but this pump is only for 00:07:45.120 --> 00:07:46.390 align:start position:0% performance but this pump is only for the 00:07:46.390 --> 00:07:46.400 align:start position:0% the 00:07:46.400 --> 00:07:49.430 align:start position:0% the atmos<00:07:46.879> power<00:07:47.199> plant<00:07:47.759> is<00:07:48.080> circulation 00:07:49.430 --> 00:07:49.440 align:start position:0% atmos power plant is circulation 00:07:49.440 --> 00:07:54.070 align:start position:0% atmos power plant is circulation water<00:07:49.840> circulation<00:07:51.199> and<00:07:51.919> then<00:07:52.319> with<00:07:52.479> this 00:07:54.070 --> 00:07:54.080 align:start position:0% water circulation and then with this 00:07:54.080 --> 00:07:58.629 align:start position:0% water circulation and then with this in<00:07:54.240> this<00:07:54.479> circulation<00:07:56.240> system<00:07:57.039> there<00:07:57.280> is<00:07:57.599> a 00:07:58.629 --> 00:07:58.639 align:start position:0% in this circulation system there is a 00:07:58.639 --> 00:08:01.670 align:start position:0% in this circulation system there is a pump<00:07:59.440> so<00:07:59.680> otherwise<00:08:00.319> uh 00:08:01.670 --> 00:08:01.680 align:start position:0% pump so otherwise uh 00:08:01.680 --> 00:08:05.749 align:start position:0% pump so otherwise uh so<00:08:02.000> we<00:08:02.240> can't<00:08:04.080> cycle<00:08:04.560> its 00:08:05.749 --> 00:08:05.759 align:start position:0% so we can't cycle its 00:08:05.759 --> 00:08:09.270 align:start position:0% so we can't cycle its water<00:08:06.560> in<00:08:06.800> the<00:08:07.599> power<00:08:07.919> plant<00:08:08.720> so 00:08:09.270 --> 00:08:09.280 align:start position:0% water in the power plant so 00:08:09.280 --> 00:08:11.990 align:start position:0% water in the power plant so that<00:08:09.520> is<00:08:09.840> most<00:08:10.160> important<00:08:11.280> circulation 00:08:11.990 --> 00:08:12.000 align:start position:0% that is most important circulation 00:08:12.000 --> 00:08:12.950 align:start position:0% that is most important circulation system 00:08:12.950 --> 00:08:12.960 align:start position:0% system 00:08:12.960 --> 00:08:16.070 align:start position:0% system but<00:08:13.280> if<00:08:14.000> some<00:08:14.400> aspect<00:08:15.039> happened<00:08:15.680> just 00:08:16.070 --> 00:08:16.080 align:start position:0% but if some aspect happened just 00:08:16.080 --> 00:08:19.110 align:start position:0% but if some aspect happened just like<00:08:18.000> this<00:08:18.240> year 00:08:19.110 --> 00:08:19.120 align:start position:0% like this year 00:08:19.120 --> 00:08:22.869 align:start position:0% like this year then<00:08:19.520> the<00:08:19.759> piping<00:08:20.240> system<00:08:20.960> is<00:08:21.599> breakdown 00:08:22.869 --> 00:08:22.879 align:start position:0% then the piping system is breakdown 00:08:22.879 --> 00:08:26.070 align:start position:0% then the piping system is breakdown and<00:08:23.120> then<00:08:24.240> the<00:08:24.479> last<00:08:24.879> scenario<00:08:25.680> is 00:08:26.070 --> 00:08:26.080 align:start position:0% and then the last scenario is 00:08:26.080 --> 00:08:30.230 align:start position:0% and then the last scenario is the<00:08:27.840> no<00:08:28.240> water<00:08:28.960> in<00:08:29.120> the<00:08:29.360> core 00:08:30.230 --> 00:08:30.240 align:start position:0% the no water in the core 00:08:30.240 --> 00:08:32.389 align:start position:0% the no water in the core because<00:08:30.479> that's<00:08:30.720> the<00:08:30.879> worst<00:08:31.280> scenario<00:08:32.159> but 00:08:32.389 --> 00:08:32.399 align:start position:0% because that's the worst scenario but 00:08:32.399 --> 00:08:33.350 align:start position:0% because that's the worst scenario but actually 00:08:33.350 --> 00:08:33.360 align:start position:0% actually 00:08:33.360 --> 00:08:36.550 align:start position:0% actually this<00:08:33.680> year's<00:08:34.240> earthquake<00:08:35.360> is 00:08:36.550 --> 00:08:36.560 align:start position:0% this year's earthquake is 00:08:36.560 --> 00:08:40.149 align:start position:0% this year's earthquake is very<00:08:37.039> close<00:08:37.440> to<00:08:37.680> the<00:08:38.000> kind<00:08:38.320> of<00:08:38.839> situation 00:08:40.149 --> 00:08:40.159 align:start position:0% very close to the kind of situation 00:08:40.159 --> 00:08:43.269 align:start position:0% very close to the kind of situation and<00:08:40.719> then<00:08:41.120> i<00:08:41.599> learned<00:08:42.240> at<00:08:42.479> that<00:08:42.800> time 00:08:43.269 --> 00:08:43.279 align:start position:0% and then i learned at that time 00:08:43.279 --> 00:08:46.630 align:start position:0% and then i learned at that time is<00:08:43.599> once<00:08:44.000> the<00:08:44.159> pipe<00:08:44.480> is<00:08:44.720> down<00:08:45.600> the<00:08:45.839> internal 00:08:46.630 --> 00:08:46.640 align:start position:0% is once the pipe is down the internal 00:08:46.640 --> 00:08:50.070 align:start position:0% is once the pipe is down the internal in<00:08:46.880> actual<00:08:47.200> internal<00:08:47.760> pressure<00:08:48.320> is<00:08:48.880> is<00:08:49.200> kept 00:08:50.070 --> 00:08:50.080 align:start position:0% in actual internal pressure is is kept 00:08:50.080 --> 00:08:53.350 align:start position:0% in actual internal pressure is is kept or<00:08:50.320> is<00:08:50.480> very<00:08:50.880> high<00:08:51.200> pressure<00:08:52.320> so<00:08:52.640> that<00:08:52.959> we<00:08:53.120> can 00:08:53.350 --> 00:08:53.360 align:start position:0% or is very high pressure so that we can 00:08:53.360 --> 00:08:53.990 align:start position:0% or is very high pressure so that we can suppress 00:08:53.990 --> 00:08:54.000 align:start position:0% suppress 00:08:54.000 --> 00:08:57.430 align:start position:0% suppress the<00:08:54.880> uh<00:08:55.920> papering 00:08:57.430 --> 00:08:57.440 align:start position:0% the uh papering 00:08:57.440 --> 00:09:00.790 align:start position:0% the uh papering but<00:08:58.160> once<00:08:58.720> his<00:08:59.680> piping<00:09:00.160> system 00:09:00.790 --> 00:09:00.800 align:start position:0% but once his piping system 00:09:00.800 --> 00:09:04.150 align:start position:0% but once his piping system is<00:09:01.519> breaking<00:09:02.000> down<00:09:02.800> and<00:09:03.120> then<00:09:03.360> the<00:09:03.600> pressure 00:09:04.150 --> 00:09:04.160 align:start position:0% is breaking down and then the pressure 00:09:04.160 --> 00:09:04.870 align:start position:0% is breaking down and then the pressure is 00:09:04.870 --> 00:09:04.880 align:start position:0% is 00:09:04.880 --> 00:09:08.230 align:start position:0% is down<00:09:06.080> internal<00:09:06.480> pressure<00:09:06.880> is<00:09:06.880> exam<00:09:07.600> so 00:09:08.230 --> 00:09:08.240 align:start position:0% down internal pressure is exam so 00:09:08.240 --> 00:09:11.430 align:start position:0% down internal pressure is exam so then<00:09:08.640> the<00:09:08.880> gradually<00:09:09.839> some<00:09:10.480> boiling 00:09:11.430 --> 00:09:11.440 align:start position:0% then the gradually some boiling 00:09:11.440 --> 00:09:14.710 align:start position:0% then the gradually some boiling boiling<00:09:12.000> start<00:09:12.959> and<00:09:13.279> under<00:09:13.519> such<00:09:13.839> a<00:09:13.920> situation 00:09:14.710 --> 00:09:14.720 align:start position:0% boiling start and under such a situation 00:09:14.720 --> 00:09:17.670 align:start position:0% boiling start and under such a situation how<00:09:15.120> pumping<00:09:15.519> performance<00:09:16.240> is<00:09:16.560> changed<00:09:17.440> so 00:09:17.670 --> 00:09:17.680 align:start position:0% how pumping performance is changed so 00:09:17.680 --> 00:09:19.190 align:start position:0% how pumping performance is changed so this<00:09:17.839> is<00:09:18.000> my 00:09:19.190 --> 00:09:19.200 align:start position:0% this is my 00:09:19.200 --> 00:09:23.750 align:start position:0% this is my my<00:09:21.120> that<00:09:21.360> is<00:09:21.519> the<00:09:21.680> background<00:09:22.320> of<00:09:22.480> my<00:09:22.720> work 00:09:23.750 --> 00:09:23.760 align:start position:0% my that is the background of my work 00:09:23.760 --> 00:09:26.790 align:start position:0% my that is the background of my work so<00:09:24.480> the<00:09:24.959> at<00:09:25.120> that<00:09:25.440> time<00:09:25.839> it's 00:09:26.790 --> 00:09:26.800 align:start position:0% so the at that time it's 00:09:26.800 --> 00:09:29.750 align:start position:0% so the at that time it's i<00:09:27.120> i<00:09:27.360> designed<00:09:28.160> the<00:09:28.320> total<00:09:28.800> system<00:09:29.279> including 00:09:29.750 --> 00:09:29.760 align:start position:0% i i designed the total system including 00:09:29.760 --> 00:09:30.790 align:start position:0% i i designed the total system including the<00:09:29.920> phone 00:09:30.790 --> 00:09:30.800 align:start position:0% the phone 00:09:30.800 --> 00:09:34.790 align:start position:0% the phone and<00:09:32.399> instead<00:09:33.120> of<00:09:33.680> boiling 00:09:34.790 --> 00:09:34.800 align:start position:0% and instead of boiling 00:09:34.800 --> 00:09:38.230 align:start position:0% and instead of boiling so<00:09:35.279> we<00:09:36.000> insert<00:09:36.880> artificial 00:09:38.230 --> 00:09:38.240 align:start position:0% so we insert artificial 00:09:38.240 --> 00:09:41.509 align:start position:0% so we insert artificial air<00:09:38.880> to<00:09:39.040> the<00:09:39.279> system<00:09:40.160> and<00:09:40.560> how<00:09:40.880> the<00:09:41.040> pumping 00:09:41.509 --> 00:09:41.519 align:start position:0% air to the system and how the pumping 00:09:41.519 --> 00:09:43.110 align:start position:0% air to the system and how the pumping performance<00:09:42.080> is<00:09:42.320> changing 00:09:43.110 --> 00:09:43.120 align:start position:0% performance is changing 00:09:43.120 --> 00:09:46.870 align:start position:0% performance is changing under<00:09:43.519> such<00:09:44.640> waters<00:09:45.760> here<00:09:46.160> the<00:09:46.320> two-phase 00:09:46.870 --> 00:09:46.880 align:start position:0% under such waters here the two-phase 00:09:46.880 --> 00:09:48.470 align:start position:0% under such waters here the two-phase condition 00:09:48.470 --> 00:09:48.480 align:start position:0% condition 00:09:48.480 --> 00:09:51.829 align:start position:0% condition okay<00:09:49.120> and<00:09:49.360> then<00:09:51.440> i 00:09:51.829 --> 00:09:51.839 align:start position:0% okay and then i 00:09:51.839 --> 00:09:53.990 align:start position:0% okay and then i just<00:09:52.160> by<00:09:52.399> chance<00:09:52.880> i<00:09:53.120> found<00:09:53.519> a<00:09:53.600> very 00:09:53.990 --> 00:09:54.000 align:start position:0% just by chance i found a very 00:09:54.000 --> 00:09:55.509 align:start position:0% just by chance i found a very interesting<00:09:54.560> phenomena 00:09:55.509 --> 00:09:55.519 align:start position:0% interesting phenomena 00:09:55.519 --> 00:09:59.430 align:start position:0% interesting phenomena phenomena<00:09:56.959> and<00:09:58.399> under<00:09:58.640> some<00:09:58.880> particular 00:09:59.430 --> 00:09:59.440 align:start position:0% phenomena and under some particular 00:09:59.440 --> 00:10:00.230 align:start position:0% phenomena and under some particular condition 00:10:00.230 --> 00:10:00.240 align:start position:0% condition 00:10:00.240 --> 00:10:03.829 align:start position:0% condition the<00:10:00.720> pumping<00:10:01.200> system<00:10:02.160> start<00:10:02.800> a<00:10:03.040> very<00:10:03.519> big 00:10:03.829 --> 00:10:03.839 align:start position:0% the pumping system start a very big 00:10:03.839 --> 00:10:05.350 align:start position:0% the pumping system start a very big oscillation 00:10:05.350 --> 00:10:05.360 align:start position:0% oscillation 00:10:05.360 --> 00:10:07.750 align:start position:0% oscillation so<00:10:05.600> the<00:10:05.839> concentration<00:10:07.040> actually<00:10:07.440> is<00:10:07.519> not 00:10:07.750 --> 00:10:07.760 align:start position:0% so the concentration actually is not 00:10:07.760 --> 00:10:08.949 align:start position:0% so the concentration actually is not good<00:10:08.079> for<00:10:08.320> the 00:10:08.949 --> 00:10:08.959 align:start position:0% good for the 00:10:08.959 --> 00:10:12.550 align:start position:0% good for the circulation<00:10:09.680> system<00:10:10.640> so<00:10:10.959> the<00:10:11.440> i 00:10:12.550 --> 00:10:12.560 align:start position:0% circulation system so the i 00:10:12.560 --> 00:10:15.750 align:start position:0% circulation system so the i i<00:10:12.880> did<00:10:13.600> a<00:10:14.160> number<00:10:14.480> of<00:10:14.720> experiments 00:10:15.750 --> 00:10:15.760 align:start position:0% i did a number of experiments 00:10:15.760 --> 00:10:19.750 align:start position:0% i did a number of experiments and<00:10:16.720> we<00:10:17.120> found<00:10:17.440> eventually<00:10:18.240> why<00:10:18.640> that<00:10:18.959> kind<00:10:19.279> of 00:10:19.750 --> 00:10:19.760 align:start position:0% and we found eventually why that kind of 00:10:19.760 --> 00:10:22.949 align:start position:0% and we found eventually why that kind of austeration<00:10:20.480> happened<00:10:21.040> so<00:10:21.200> this<00:10:21.440> is<00:10:21.600> my<00:10:22.240> phd 00:10:22.949 --> 00:10:22.959 align:start position:0% austeration happened so this is my phd 00:10:22.959 --> 00:10:26.310 align:start position:0% austeration happened so this is my phd topics<00:10:23.760> i<00:10:24.000> enjoy<00:10:24.320> it<00:10:24.480> a<00:10:24.560> lot<00:10:25.680> very<00:10:26.000> much 00:10:26.310 --> 00:10:26.320 align:start position:0% topics i enjoy it a lot very much 00:10:26.320 --> 00:10:29.430 align:start position:0% topics i enjoy it a lot very much sorry 00:10:29.430 --> 00:10:29.440 align:start position:0% 00:10:29.440 --> 00:10:31.269 align:start position:0% so<00:10:29.600> you're<00:10:29.760> able<00:10:29.920> to<00:10:30.000> get<00:10:30.160> to<00:10:30.399> design<00:10:31.040> actually 00:10:31.269 --> 00:10:31.279 align:start position:0% so you're able to get to design actually 00:10:31.279 --> 00:10:33.269 align:start position:0% so you're able to get to design actually build<00:10:31.519> things<00:10:31.839> and<00:10:32.000> also<00:10:32.240> do<00:10:32.480> experimentation 00:10:33.269 --> 00:10:33.279 align:start position:0% build things and also do experimentation 00:10:33.279 --> 00:10:34.150 align:start position:0% build things and also do experimentation so<00:10:33.519> actually<00:10:33.839> not 00:10:34.150 --> 00:10:34.160 align:start position:0% so actually not 00:10:34.160 --> 00:10:37.670 align:start position:0% so actually not everything<00:10:34.720> because<00:10:35.200> the<00:10:35.600> the<00:10:36.320> it's<00:10:36.560> too<00:10:36.800> much 00:10:37.670 --> 00:10:37.680 align:start position:0% everything because the the it's too much 00:10:37.680 --> 00:10:40.949 align:start position:0% everything because the the it's too much so<00:10:38.079> the<00:10:38.399> partial<00:10:39.519> design<00:10:40.399> and 00:10:40.949 --> 00:10:40.959 align:start position:0% so the partial design and 00:10:40.959 --> 00:10:44.069 align:start position:0% so the partial design and then<00:10:41.279> the<00:10:41.680> building<00:10:42.160> assembly<00:10:43.200> so<00:10:43.440> the<00:10:43.680> small 00:10:44.069 --> 00:10:44.079 align:start position:0% then the building assembly so the small 00:10:44.079 --> 00:10:45.110 align:start position:0% then the building assembly so the small part 00:10:45.110 --> 00:10:45.120 align:start position:0% part 00:10:45.120 --> 00:10:48.470 align:start position:0% part we<00:10:46.000> bought<00:10:46.480> and<00:10:46.720> also<00:10:47.440> we<00:10:47.680> asked 00:10:48.470 --> 00:10:48.480 align:start position:0% we bought and also we asked 00:10:48.480 --> 00:10:52.790 align:start position:0% we bought and also we asked some<00:10:48.800> company<00:10:49.519> to<00:10:50.000> to<00:10:50.399> build<00:10:50.720> it 00:10:52.790 --> 00:10:52.800 align:start position:0% some company to to build it 00:10:52.800 --> 00:10:56.069 align:start position:0% some company to to build it and<00:10:52.959> was<00:10:53.200> it<00:10:53.360> ever<00:10:53.680> implemented<00:10:55.440> was<00:10:55.680> it<00:10:55.839> ever 00:10:56.069 --> 00:10:56.079 align:start position:0% and was it ever implemented was it ever 00:10:56.079 --> 00:10:57.430 align:start position:0% and was it ever implemented was it ever used<00:10:56.560> in<00:10:56.720> a<00:10:56.959> real 00:10:57.430 --> 00:10:57.440 align:start position:0% used in a real 00:10:57.440 --> 00:11:00.710 align:start position:0% used in a real system<00:10:59.040> not<00:10:59.279> a<00:10:59.440> scaled-down<00:11:00.079> model 00:11:00.710 --> 00:11:00.720 align:start position:0% system not a scaled-down model 00:11:00.720 --> 00:11:03.110 align:start position:0% system not a scaled-down model so<00:11:00.959> of<00:11:01.040> course<00:11:01.440> it's<00:11:01.680> a<00:11:01.839> real<00:11:02.160> system<00:11:02.560> so<00:11:02.800> big 00:11:03.110 --> 00:11:03.120 align:start position:0% so of course it's a real system so big 00:11:03.120 --> 00:11:04.470 align:start position:0% so of course it's a real system so big it's<00:11:03.360> more<00:11:03.600> than 00:11:04.470 --> 00:11:04.480 align:start position:0% it's more than 00:11:04.480 --> 00:11:07.590 align:start position:0% it's more than the<00:11:04.640> whole<00:11:04.959> building<00:11:05.600> here<00:11:06.560> so<00:11:06.880> because<00:11:07.360> that 00:11:07.590 --> 00:11:07.600 align:start position:0% the whole building here so because that 00:11:07.600 --> 00:11:09.350 align:start position:0% the whole building here so because that is<00:11:07.839> the<00:11:08.000> power<00:11:08.240> plant 00:11:09.350 --> 00:11:09.360 align:start position:0% is the power plant 00:11:09.360 --> 00:11:12.710 align:start position:0% is the power plant just<00:11:09.680> as<00:11:10.320> scaled<00:11:10.720> down<00:11:11.360> it's 00:11:12.710 --> 00:11:12.720 align:start position:0% just as scaled down it's 00:11:12.720 --> 00:11:16.470 align:start position:0% just as scaled down it's one<00:11:13.040> over<00:11:13.519> tens<00:11:13.839> or<00:11:14.000> something 00:11:16.470 --> 00:11:16.480 align:start position:0% 00:11:16.480 --> 00:11:22.069 align:start position:0% and<00:11:16.720> so<00:11:17.440> after<00:11:18.640> you<00:11:18.880> finished<00:11:19.279> in<00:11:19.800> 1978 00:11:22.069 --> 00:11:22.079 align:start position:0% and so after you finished in 1978 00:11:22.079 --> 00:11:26.790 align:start position:0% and so after you finished in 1978 with<00:11:22.240> your<00:11:22.480> phd<00:11:23.440> no<00:11:23.839> uh<00:11:24.240> phd<00:11:24.880> is<00:11:25.160> 1981<00:11:26.240> 19<00:11:26.560> oh 00:11:26.790 --> 00:11:26.800 align:start position:0% with your phd no uh phd is 1981 19 oh 00:11:26.800 --> 00:11:28.470 align:start position:0% with your phd no uh phd is 1981 19 oh you<00:11:26.959> started<00:11:27.279> in<00:11:27.440> 78. 00:11:28.470 --> 00:11:28.480 align:start position:0% you started in 78. 00:11:28.480 --> 00:11:31.670 align:start position:0% you started in 78. oh<00:11:28.640> yes<00:11:29.120> okay<00:11:30.640> i<00:11:30.880> found<00:11:31.120> from<00:11:31.279> the<00:11:31.360> internet 00:11:31.670 --> 00:11:31.680 align:start position:0% oh yes okay i found from the internet 00:11:31.680 --> 00:11:34.069 align:start position:0% oh yes okay i found from the internet but<00:11:31.839> i<00:11:31.920> was<00:11:32.000> oh 00:11:34.069 --> 00:11:34.079 align:start position:0% but i was oh 00:11:34.079 --> 00:11:38.150 align:start position:0% but i was oh okay<00:11:36.160> um<00:11:36.560> and<00:11:36.720> then<00:11:37.040> after<00:11:37.360> that<00:11:37.600> you<00:11:37.760> went 00:11:38.150 --> 00:11:38.160 align:start position:0% okay um and then after that you went 00:11:38.160 --> 00:11:42.710 align:start position:0% okay um and then after that you went to<00:11:39.279> um<00:11:40.240> mel 00:11:42.710 --> 00:11:42.720 align:start position:0% 00:11:42.720 --> 00:11:45.269 align:start position:0% mechanical<00:11:43.360> engineering<00:11:43.839> laboratory<00:11:44.720> is 00:11:45.269 --> 00:11:45.279 align:start position:0% mechanical engineering laboratory is 00:11:45.279 --> 00:11:46.470 align:start position:0% mechanical engineering laboratory is that<00:11:45.600> time 00:11:46.470 --> 00:11:46.480 align:start position:0% that time 00:11:46.480 --> 00:11:49.509 align:start position:0% that time so<00:11:46.959> that<00:11:47.200> is<00:11:47.440> a<00:11:47.600> government<00:11:48.320> laboratory<00:11:49.360> we 00:11:49.509 --> 00:11:49.519 align:start position:0% so that is a government laboratory we 00:11:49.519 --> 00:11:50.310 align:start position:0% so that is a government laboratory we don't<00:11:49.760> need<00:11:50.000> to 00:11:50.310 --> 00:11:50.320 align:start position:0% don't need to 00:11:50.320 --> 00:11:52.150 align:start position:0% don't need to minister<00:11:50.880> international<00:11:51.600> trade<00:11:51.920> in<00:11:52.000> the 00:11:52.150 --> 00:11:52.160 align:start position:0% minister international trade in the 00:11:52.160 --> 00:11:54.710 align:start position:0% minister international trade in the industry 00:11:54.710 --> 00:11:54.720 align:start position:0% 00:11:54.720 --> 00:11:58.629 align:start position:0% so<00:11:54.959> it's<00:11:55.200> in<00:11:55.920> it<00:11:56.079> was<00:11:56.320> an<00:11:56.560> iced<00:11:57.360> or 00:11:58.629 --> 00:11:58.639 align:start position:0% so it's in it was an iced or 00:11:58.639 --> 00:12:02.150 align:start position:0% so it's in it was an iced or was<00:11:58.800> it<00:11:58.959> part<00:11:59.200> of<00:11:59.360> ice<00:12:00.320> yeah 00:12:02.150 --> 00:12:02.160 align:start position:0% was it part of ice yeah 00:12:02.160 --> 00:12:05.430 align:start position:0% was it part of ice yeah exactly<00:12:04.560> how<00:12:04.720> did<00:12:04.959> you 00:12:05.430 --> 00:12:05.440 align:start position:0% exactly how did you 00:12:05.440 --> 00:12:09.590 align:start position:0% exactly how did you um<00:12:05.839> decide<00:12:06.320> to<00:12:06.480> go<00:12:06.639> to<00:12:07.040> mel<00:12:08.160> oh 00:12:09.590 --> 00:12:09.600 align:start position:0% um decide to go to mel oh 00:12:09.600 --> 00:12:14.069 align:start position:0% um decide to go to mel oh okay<00:12:12.000> okay<00:12:12.240> there<00:12:12.480> are<00:12:12.639> two<00:12:12.880> choices<00:12:13.519> one 00:12:14.069 --> 00:12:14.079 align:start position:0% okay okay there are two choices one 00:12:14.079 --> 00:12:17.590 align:start position:0% okay okay there are two choices one is<00:12:14.399> no<00:12:14.639> actually<00:12:14.959> three<00:12:15.600> choices<00:12:16.079> one<00:12:16.399> is<00:12:16.639> the 00:12:17.590 --> 00:12:17.600 align:start position:0% is no actually three choices one is the 00:12:17.600 --> 00:12:20.790 align:start position:0% is no actually three choices one is the i<00:12:18.000> wanted<00:12:18.560> eventually<00:12:19.279> to<00:12:19.920> go<00:12:20.160> to<00:12:20.399> the 00:12:20.790 --> 00:12:20.800 align:start position:0% i wanted eventually to go to the 00:12:20.800 --> 00:12:24.230 align:start position:0% i wanted eventually to go to the academia<00:12:21.600> it's<00:12:21.839> like<00:12:22.839> university 00:12:24.230 --> 00:12:24.240 align:start position:0% academia it's like university 00:12:24.240 --> 00:12:27.350 align:start position:0% academia it's like university but<00:12:24.880> just<00:12:25.200> depends<00:12:25.839> on<00:12:26.240> the 00:12:27.350 --> 00:12:27.360 align:start position:0% but just depends on the 00:12:27.360 --> 00:12:30.550 align:start position:0% but just depends on the position<00:12:28.240> availability<00:12:30.079> and 00:12:30.550 --> 00:12:30.560 align:start position:0% position availability and 00:12:30.560 --> 00:12:34.629 align:start position:0% position availability and so<00:12:31.040> then<00:12:31.519> okay<00:12:33.040> there<00:12:33.200> are<00:12:33.440> two<00:12:33.680> choices<00:12:34.240> one 00:12:34.629 --> 00:12:34.639 align:start position:0% so then okay there are two choices one 00:12:34.639 --> 00:12:37.829 align:start position:0% so then okay there are two choices one is<00:12:35.200> to<00:12:35.440> go<00:12:35.680> to<00:12:35.839> the<00:12:36.000> private<00:12:36.399> company<00:12:37.279> and<00:12:37.600> one 00:12:37.829 --> 00:12:37.839 align:start position:0% is to go to the private company and one 00:12:37.839 --> 00:12:39.670 align:start position:0% is to go to the private company and one is<00:12:38.079> to<00:12:38.240> go<00:12:38.399> to<00:12:38.639> such 00:12:39.670 --> 00:12:39.680 align:start position:0% is to go to such 00:12:39.680 --> 00:12:42.949 align:start position:0% is to go to such just<00:12:40.000> like<00:12:40.240> a<00:12:40.399> government<00:12:41.440> probably 00:12:42.949 --> 00:12:42.959 align:start position:0% just like a government probably 00:12:42.959 --> 00:12:47.590 align:start position:0% just like a government probably and<00:12:43.519> a<00:12:44.240> private<00:12:44.639> company 00:12:47.590 --> 00:12:47.600 align:start position:0% 00:12:47.600 --> 00:12:52.550 align:start position:0% okay<00:12:48.160> i<00:12:48.959> a<00:12:49.120> couple<00:12:50.839> of<00:12:51.920> company 00:12:52.550 --> 00:12:52.560 align:start position:0% okay i a couple of company 00:12:52.560 --> 00:12:56.470 align:start position:0% okay i a couple of company with<00:12:52.880> a<00:12:53.040> candidate<00:12:53.680> but<00:12:54.160> eventually 00:12:56.470 --> 00:12:56.480 align:start position:0% with a candidate but eventually 00:12:56.480 --> 00:12:59.910 align:start position:0% with a candidate but eventually i<00:12:58.000> i<00:12:58.959> gave<00:12:59.200> up 00:12:59.910 --> 00:12:59.920 align:start position:0% i i gave up 00:12:59.920 --> 00:13:03.910 align:start position:0% i i gave up uh<00:13:00.720> entering<00:13:01.200> the<00:13:01.440> tribal<00:13:01.839> university<00:13:02.880> and 00:13:03.910 --> 00:13:03.920 align:start position:0% uh entering the tribal university and 00:13:03.920 --> 00:13:07.670 align:start position:0% uh entering the tribal university and decided<00:13:04.560> to<00:13:04.800> go<00:13:04.959> to<00:13:05.200> the<00:13:06.000> mail<00:13:06.720> but<00:13:06.880> actually 00:13:07.670 --> 00:13:07.680 align:start position:0% decided to go to the mail but actually 00:13:07.680 --> 00:13:11.030 align:start position:0% decided to go to the mail but actually it's<00:13:07.839> not<00:13:08.079> that<00:13:08.959> easy<00:13:09.440> to<00:13:10.399> to<00:13:10.639> enter<00:13:10.959> the 00:13:11.030 --> 00:13:11.040 align:start position:0% it's not that easy to to enter the 00:13:11.040 --> 00:13:11.670 align:start position:0% it's not that easy to to enter the government 00:13:11.670 --> 00:13:11.680 align:start position:0% government 00:13:11.680 --> 00:13:14.710 align:start position:0% government level<00:13:12.000> there's<00:13:12.240> that<00:13:12.480> time<00:13:12.720> there<00:13:12.959> are<00:13:13.120> two<00:13:14.320> uh 00:13:14.710 --> 00:13:14.720 align:start position:0% level there's that time there are two uh 00:13:14.720 --> 00:13:18.389 align:start position:0% level there's that time there are two uh patents<00:13:15.360> first<00:13:15.920> patent<00:13:16.560> is<00:13:16.880> to<00:13:17.120> take<00:13:17.440> exam 00:13:18.389 --> 00:13:18.399 align:start position:0% patents first patent is to take exam 00:13:18.399 --> 00:13:21.750 align:start position:0% patents first patent is to take exam this<00:13:18.639> is<00:13:18.959> really<00:13:19.680> tough<00:13:20.079> exam<00:13:21.279> is<00:13:21.600> the 00:13:21.750 --> 00:13:21.760 align:start position:0% this is really tough exam is the 00:13:21.760 --> 00:13:25.110 align:start position:0% this is really tough exam is the competition<00:13:22.480> rate<00:13:22.800> is<00:13:23.120> over<00:13:23.440> 50. 00:13:25.110 --> 00:13:25.120 align:start position:0% competition rate is over 50. 00:13:25.120 --> 00:13:29.269 align:start position:0% competition rate is over 50. and<00:13:25.360> second<00:13:26.560> chance<00:13:26.959> is<00:13:27.279> if<00:13:27.440> you<00:13:27.600> take<00:13:27.920> the<00:13:28.079> phd 00:13:29.269 --> 00:13:29.279 align:start position:0% and second chance is if you take the phd 00:13:29.279 --> 00:13:32.550 align:start position:0% and second chance is if you take the phd and<00:13:29.600> then<00:13:30.000> if<00:13:30.800> the<00:13:30.959> position<00:13:31.440> is<00:13:31.600> available 00:13:32.550 --> 00:13:32.560 align:start position:0% and then if the position is available 00:13:32.560 --> 00:13:34.790 align:start position:0% and then if the position is available appropriate<00:13:33.040> positions<00:13:33.600> available<00:13:34.399> and<00:13:34.560> then 00:13:34.790 --> 00:13:34.800 align:start position:0% appropriate positions available and then 00:13:34.800 --> 00:13:36.790 align:start position:0% appropriate positions available and then you<00:13:34.959> can<00:13:35.200> go 00:13:36.790 --> 00:13:36.800 align:start position:0% you can go 00:13:36.800 --> 00:13:40.629 align:start position:0% you can go yeah<00:13:38.000> yeah<00:13:38.240> i<00:13:38.480> for<00:13:38.639> me<00:13:39.040> is 00:13:40.629 --> 00:13:40.639 align:start position:0% yeah yeah i for me is 00:13:40.639 --> 00:13:44.470 align:start position:0% yeah yeah i for me is is<00:13:41.040> actually<00:13:42.880> the<00:13:43.120> second<00:13:43.600> chance 00:13:44.470 --> 00:13:44.480 align:start position:0% is actually the second chance 00:13:44.480 --> 00:13:49.829 align:start position:0% is actually the second chance and<00:13:45.040> the<00:13:45.360> phd<00:13:46.000> based 00:13:49.829 --> 00:13:49.839 align:start position:0% 00:13:49.839 --> 00:13:53.189 align:start position:0% entering<00:13:51.120> then<00:13:51.680> okay 00:13:53.189 --> 00:13:53.199 align:start position:0% entering then okay 00:13:53.199 --> 00:13:57.430 align:start position:0% entering then okay you<00:13:53.360> can<00:13:53.600> continue<00:13:54.480> your<00:13:56.000> phd<00:13:56.720> work 00:13:57.430 --> 00:13:57.440 align:start position:0% you can continue your phd work 00:13:57.440 --> 00:14:00.870 align:start position:0% you can continue your phd work so<00:13:58.079> otherwise<00:13:59.600> there<00:13:59.920> is<00:14:00.079> no<00:14:00.399> reason 00:14:00.870 --> 00:14:00.880 align:start position:0% so otherwise there is no reason 00:14:00.880 --> 00:14:03.990 align:start position:0% so otherwise there is no reason for<00:14:01.279> the<00:14:01.519> government<00:14:03.040> to<00:14:03.440> hire 00:14:03.990 --> 00:14:04.000 align:start position:0% for the government to hire 00:14:04.000 --> 00:14:08.629 align:start position:0% for the government to hire you<00:14:05.600> because<00:14:06.160> the<00:14:06.560> if<00:14:06.800> you<00:14:06.959> have<00:14:07.199> a<00:14:07.360> phd 00:14:08.629 --> 00:14:08.639 align:start position:0% you because the if you have a phd 00:14:08.639 --> 00:14:12.790 align:start position:0% you because the if you have a phd and<00:14:09.040> then<00:14:09.360> they<00:14:09.680> try<00:14:10.000> to 00:14:12.790 --> 00:14:12.800 align:start position:0% 00:14:12.800 --> 00:14:16.790 align:start position:0% try<00:14:13.120> to<00:14:14.560> okay<00:14:14.880> they<00:14:15.040> have<00:14:15.279> some<00:14:15.600> particular 00:14:16.790 --> 00:14:16.800 align:start position:0% try to okay they have some particular 00:14:16.800 --> 00:14:20.550 align:start position:0% try to okay they have some particular area<00:14:17.760> where<00:14:18.160> they<00:14:18.560> want<00:14:18.880> to<00:14:19.600> advance 00:14:20.550 --> 00:14:20.560 align:start position:0% area where they want to advance 00:14:20.560 --> 00:14:23.990 align:start position:0% area where they want to advance in<00:14:20.639> the<00:14:20.800> future<00:14:22.000> and<00:14:22.240> then<00:14:22.560> okay<00:14:23.040> so 00:14:23.990 --> 00:14:24.000 align:start position:0% in the future and then okay so 00:14:24.000 --> 00:14:27.110 align:start position:0% in the future and then okay so who<00:14:24.320> is<00:14:24.480> the<00:14:24.720> right<00:14:25.040> person<00:14:25.440> for<00:14:25.760> this<00:14:26.000> area<00:14:26.800> oh 00:14:27.110 --> 00:14:27.120 align:start position:0% who is the right person for this area oh 00:14:27.120 --> 00:14:29.990 align:start position:0% who is the right person for this area oh actually<00:14:27.600> he<00:14:28.000> he<00:14:28.240> wants<00:14:28.720> the<00:14:28.959> phd<00:14:29.519> in<00:14:29.680> this 00:14:29.990 --> 00:14:30.000 align:start position:0% actually he he wants the phd in this 00:14:30.000 --> 00:14:30.629 align:start position:0% actually he he wants the phd in this area 00:14:30.629 --> 00:14:30.639 align:start position:0% area 00:14:30.639 --> 00:14:32.949 align:start position:0% area so<00:14:30.800> if<00:14:30.959> i<00:14:31.040> know<00:14:31.279> that<00:14:31.360> we<00:14:31.519> can<00:14:31.680> take<00:14:32.480> this<00:14:32.880> at 00:14:32.949 --> 00:14:32.959 align:start position:0% so if i know that we can take this at 00:14:32.959 --> 00:14:33.670 align:start position:0% so if i know that we can take this at this<00:14:33.279> guy 00:14:33.670 --> 00:14:33.680 align:start position:0% this guy 00:14:33.680 --> 00:14:37.990 align:start position:0% this guy so<00:14:33.920> that<00:14:34.160> kind<00:14:34.480> of<00:14:34.639> reason<00:14:36.000> very<00:14:36.240> reasonably 00:14:37.990 --> 00:14:38.000 align:start position:0% so that kind of reason very reasonably 00:14:38.000 --> 00:14:41.910 align:start position:0% so that kind of reason very reasonably but<00:14:38.639> in<00:14:38.880> my<00:14:39.120> case<00:14:40.160> i<00:14:40.639> took<00:14:40.959> exam 00:14:41.910 --> 00:14:41.920 align:start position:0% but in my case i took exam 00:14:41.920 --> 00:14:46.069 align:start position:0% but in my case i took exam and<00:14:42.160> then<00:14:42.480> just<00:14:42.800> by<00:14:43.199> chance<00:14:44.639> it<00:14:44.880> passed 00:14:46.069 --> 00:14:46.079 align:start position:0% and then just by chance it passed 00:14:46.079 --> 00:14:49.990 align:start position:0% and then just by chance it passed so<00:14:46.880> then<00:14:47.440> in<00:14:47.600> that<00:14:47.920> case<00:14:48.480> is<00:14:48.800> the<00:14:48.959> government 00:14:49.990 --> 00:14:50.000 align:start position:0% so then in that case is the government 00:14:50.000 --> 00:14:53.590 align:start position:0% so then in that case is the government has<00:14:50.320> a<00:14:50.800> right<00:14:51.680> to<00:14:52.240> assign<00:14:52.959> me 00:14:53.590 --> 00:14:53.600 align:start position:0% has a right to assign me 00:14:53.600 --> 00:14:56.710 align:start position:0% has a right to assign me into<00:14:54.720> anywhere<00:14:56.160> they 00:14:56.710 --> 00:14:56.720 align:start position:0% into anywhere they 00:14:56.720 --> 00:14:59.990 align:start position:0% into anywhere they they<00:14:57.040> want<00:14:58.000> so<00:14:58.240> the<00:14:58.560> my<00:14:58.880> background<00:14:59.519> was 00:14:59.990 --> 00:15:00.000 align:start position:0% they want so the my background was 00:15:00.000 --> 00:15:03.110 align:start position:0% they want so the my background was free<00:15:00.320> dynamics<00:15:01.600> but<00:15:02.720> he 00:15:03.110 --> 00:15:03.120 align:start position:0% free dynamics but he 00:15:03.120 --> 00:15:06.150 align:start position:0% free dynamics but he eventually<00:15:03.680> decided<00:15:04.880> to<00:15:05.440> assign 00:15:06.150 --> 00:15:06.160 align:start position:0% eventually decided to assign 00:15:06.160 --> 00:15:09.829 align:start position:0% eventually decided to assign me<00:15:07.120> in<00:15:07.360> the<00:15:07.680> robotics<00:15:08.639> yeah<00:15:08.959> because<00:15:09.360> this<00:15:09.600> is 00:15:09.829 --> 00:15:09.839 align:start position:0% me in the robotics yeah because this is 00:15:09.839 --> 00:15:10.629 align:start position:0% me in the robotics yeah because this is quite<00:15:10.160> new 00:15:10.629 --> 00:15:10.639 align:start position:0% quite new 00:15:10.639 --> 00:15:15.750 align:start position:0% quite new at<00:15:10.800> that<00:15:11.040> time<00:15:12.000> it's<00:15:12.240> almost<00:15:13.199> 30<00:15:13.519> years<00:15:13.760> ago 00:15:15.750 --> 00:15:15.760 align:start position:0% at that time it's almost 30 years ago 00:15:15.760 --> 00:15:19.030 align:start position:0% at that time it's almost 30 years ago in<00:15:15.920> japan<00:15:16.720> is<00:15:17.279> people<00:15:18.079> working<00:15:18.560> in<00:15:18.880> the 00:15:19.030 --> 00:15:19.040 align:start position:0% in japan is people working in the 00:15:19.040 --> 00:15:20.069 align:start position:0% in japan is people working in the robotics 00:15:20.069 --> 00:15:20.079 align:start position:0% robotics 00:15:20.079 --> 00:15:23.670 align:start position:0% robotics very<00:15:20.399> few<00:15:20.639> numbers<00:15:21.600> in<00:15:22.000> university 00:15:23.670 --> 00:15:23.680 align:start position:0% very few numbers in university 00:15:23.680 --> 00:15:26.550 align:start position:0% very few numbers in university for<00:15:23.920> example<00:15:24.399> i<00:15:24.639> couldn't<00:15:25.040> see<00:15:25.440> any<00:15:26.160> any 00:15:26.550 --> 00:15:26.560 align:start position:0% for example i couldn't see any any 00:15:26.560 --> 00:15:27.350 align:start position:0% for example i couldn't see any any university 00:15:27.350 --> 00:15:27.360 align:start position:0% university 00:15:27.360 --> 00:15:30.470 align:start position:0% university is<00:15:27.600> working<00:15:28.160> in<00:15:28.399> that<00:15:29.839> kind<00:15:30.160> of 00:15:30.470 --> 00:15:30.480 align:start position:0% is working in that kind of 00:15:30.480 --> 00:15:33.829 align:start position:0% is working in that kind of area<00:15:31.839> so<00:15:32.240> the 00:15:33.829 --> 00:15:33.839 align:start position:0% area so the 00:15:33.839 --> 00:15:36.710 align:start position:0% area so the at<00:15:34.160> first<00:15:34.639> that<00:15:34.880> is<00:15:35.199> a<00:15:35.279> really<00:15:35.759> big<00:15:36.160> change<00:15:36.480> for 00:15:36.710 --> 00:15:36.720 align:start position:0% at first that is a really big change for 00:15:36.720 --> 00:15:38.629 align:start position:0% at first that is a really big change for me 00:15:38.629 --> 00:15:38.639 align:start position:0% me 00:15:38.639 --> 00:15:43.350 align:start position:0% me from<00:15:39.040> the<00:15:39.920> free<00:15:40.240> dynamics<00:15:41.360> to<00:15:41.680> the<00:15:41.920> robotics 00:15:43.350 --> 00:15:43.360 align:start position:0% from the free dynamics to the robotics 00:15:43.360 --> 00:15:46.470 align:start position:0% from the free dynamics to the robotics okay<00:15:44.000> it's<00:15:44.320> very<00:15:44.639> big<00:15:45.040> change 00:15:46.470 --> 00:15:46.480 align:start position:0% okay it's very big change 00:15:46.480 --> 00:15:50.230 align:start position:0% okay it's very big change so<00:15:47.040> so<00:15:47.440> robotics<00:15:48.800> research 00:15:50.230 --> 00:15:50.240 align:start position:0% so so robotics research 00:15:50.240 --> 00:15:53.509 align:start position:0% so so robotics research needs<00:15:50.639> the<00:15:50.800> computer's<00:15:52.160> knowledge 00:15:53.509 --> 00:15:53.519 align:start position:0% needs the computer's knowledge 00:15:53.519 --> 00:15:56.710 align:start position:0% needs the computer's knowledge and<00:15:54.800> mechanical<00:15:55.519> knowledge 00:15:56.710 --> 00:15:56.720 align:start position:0% and mechanical knowledge 00:15:56.720 --> 00:16:00.069 align:start position:0% and mechanical knowledge and<00:15:56.959> many<00:15:57.360> other<00:15:58.320> also<00:15:58.639> the<00:15:58.800> controls 00:16:00.069 --> 00:16:00.079 align:start position:0% and many other also the controls 00:16:00.079 --> 00:16:02.949 align:start position:0% and many other also the controls so<00:16:00.880> so<00:16:01.199> in<00:16:01.360> such<00:16:01.680> sense<00:16:02.160> is<00:16:02.399> completely 00:16:02.949 --> 00:16:02.959 align:start position:0% so so in such sense is completely 00:16:02.959 --> 00:16:03.509 align:start position:0% so so in such sense is completely different 00:16:03.509 --> 00:16:03.519 align:start position:0% different 00:16:03.519 --> 00:16:07.350 align:start position:0% different area<00:16:04.639> do<00:16:04.800> you<00:16:04.959> know<00:16:05.199> who<00:16:06.399> assigned<00:16:06.800> it 00:16:07.350 --> 00:16:07.360 align:start position:0% area do you know who assigned it 00:16:07.360 --> 00:16:09.910 align:start position:0% area do you know who assigned it who<00:16:07.519> made<00:16:07.680> that<00:16:07.839> decision<00:16:08.560> okay<00:16:09.040> that<00:16:09.279> is<00:16:09.519> a 00:16:09.910 --> 00:16:09.920 align:start position:0% who made that decision okay that is a 00:16:09.920 --> 00:16:10.550 align:start position:0% who made that decision okay that is a top 00:16:10.550 --> 00:16:10.560 align:start position:0% top 00:16:10.560 --> 00:16:14.470 align:start position:0% top of<00:16:10.880> the<00:16:11.040> institute<00:16:12.720> okay<00:16:13.519> okay 00:16:14.470 --> 00:16:14.480 align:start position:0% of the institute okay okay 00:16:14.480 --> 00:16:16.629 align:start position:0% of the institute okay okay so<00:16:14.959> they're<00:16:15.199> just<00:16:15.360> one<00:16:15.600> person<00:16:15.920> or<00:16:16.160> a<00:16:16.320> group<00:16:16.480> of 00:16:16.629 --> 00:16:16.639 align:start position:0% so they're just one person or a group of 00:16:16.639 --> 00:16:19.350 align:start position:0% so they're just one person or a group of people<00:16:16.959> or<00:16:17.120> at<00:16:17.279> that<00:16:17.440> time<00:16:17.680> just<00:16:17.920> one<00:16:18.160> person 00:16:19.350 --> 00:16:19.360 align:start position:0% people or at that time just one person 00:16:19.360 --> 00:16:23.509 align:start position:0% people or at that time just one person yeah<00:16:19.839> okay<00:16:21.680> what<00:16:21.920> kind<00:16:22.160> of<00:16:22.320> robotics<00:16:22.959> research 00:16:23.509 --> 00:16:23.519 align:start position:0% yeah okay what kind of robotics research 00:16:23.519 --> 00:16:24.470 align:start position:0% yeah okay what kind of robotics research were<00:16:23.680> they<00:16:23.920> doing 00:16:24.470 --> 00:16:24.480 align:start position:0% were they doing 00:16:24.480 --> 00:16:27.670 align:start position:0% were they doing when<00:16:24.720> you<00:16:24.880> got<00:16:25.120> there<00:16:25.440> that<00:16:25.759> time<00:16:26.320> is<00:16:27.040> oh<00:16:27.199> it's 00:16:27.670 --> 00:16:27.680 align:start position:0% when you got there that time is oh it's 00:16:27.680 --> 00:16:31.670 align:start position:0% when you got there that time is oh it's really<00:16:28.240> funny<00:16:28.720> robot<00:16:29.680> um<00:16:30.480> so-called 00:16:31.670 --> 00:16:31.680 align:start position:0% really funny robot um so-called 00:16:31.680 --> 00:16:35.350 align:start position:0% really funny robot um so-called guide<00:16:32.560> guide<00:16:33.120> dog<00:16:33.519> robot<00:16:34.560> okay<00:16:34.800> you<00:16:34.880> know<00:16:35.120> the 00:16:35.350 --> 00:16:35.360 align:start position:0% guide guide dog robot okay you know the 00:16:35.360 --> 00:16:37.030 align:start position:0% guide guide dog robot okay you know the for<00:16:35.519> blind<00:16:35.920> person 00:16:37.030 --> 00:16:37.040 align:start position:0% for blind person 00:16:37.040 --> 00:16:40.310 align:start position:0% for blind person and<00:16:37.759> the<00:16:38.079> okay<00:16:38.639> sometimes<00:16:39.440> it's 00:16:40.310 --> 00:16:40.320 align:start position:0% and the okay sometimes it's 00:16:40.320 --> 00:16:43.670 align:start position:0% and the okay sometimes it's the<00:16:40.639> guy<00:16:40.880> don't<00:16:41.279> follow<00:16:42.320> him<00:16:42.720> or<00:16:42.959> he<00:16:43.279> simply 00:16:43.670 --> 00:16:43.680 align:start position:0% the guy don't follow him or he simply 00:16:43.680 --> 00:16:44.629 align:start position:0% the guy don't follow him or he simply follow 00:16:44.629 --> 00:16:44.639 align:start position:0% follow 00:16:44.639 --> 00:16:48.230 align:start position:0% follow the<00:16:44.959> the<00:16:45.519> the<00:16:45.759> weight<00:16:47.040> guide<00:16:47.440> as<00:16:47.680> kind<00:16:47.920> of 00:16:48.230 --> 00:16:48.240 align:start position:0% the the the weight guide as kind of 00:16:48.240 --> 00:16:52.310 align:start position:0% the the the weight guide as kind of it<00:16:48.399> move<00:16:49.519> so 00:16:52.310 --> 00:16:52.320 align:start position:0% 00:16:52.320 --> 00:16:55.430 align:start position:0% that<00:16:52.639> time<00:16:53.040> is<00:16:53.680> our<00:16:54.000> institute<00:16:54.800> is 00:16:55.430 --> 00:16:55.440 align:start position:0% that time is our institute is 00:16:55.440 --> 00:16:58.629 align:start position:0% that time is our institute is developing<00:16:55.920> that<00:16:56.160> kind<00:16:56.399> of<00:16:56.560> robot<00:16:58.079> and<00:16:58.240> then 00:16:58.629 --> 00:16:58.639 align:start position:0% developing that kind of robot and then 00:16:58.639 --> 00:16:58.949 align:start position:0% developing that kind of robot and then they 00:16:58.949 --> 00:16:58.959 align:start position:0% they 00:16:58.959 --> 00:17:01.829 align:start position:0% they assigned<00:16:59.519> me<00:17:00.160> as<00:17:00.480> the<00:17:00.720> part<00:17:00.959> of<00:17:01.120> researching 00:17:01.829 --> 00:17:01.839 align:start position:0% assigned me as the part of researching 00:17:01.839 --> 00:17:03.189 align:start position:0% assigned me as the part of researching that 00:17:03.189 --> 00:17:03.199 align:start position:0% that 00:17:03.199 --> 00:17:06.470 align:start position:0% that but<00:17:03.920> i<00:17:04.319> couldn't<00:17:04.799> understand<00:17:05.439> anything 00:17:06.470 --> 00:17:06.480 align:start position:0% but i couldn't understand anything 00:17:06.480 --> 00:17:09.909 align:start position:0% but i couldn't understand anything okay<00:17:06.880> that's<00:17:07.280> a<00:17:07.360> starting<00:17:07.919> point<00:17:08.959> so<00:17:09.199> the 00:17:09.909 --> 00:17:09.919 align:start position:0% okay that's a starting point so the 00:17:09.919 --> 00:17:14.150 align:start position:0% okay that's a starting point so the nearly<00:17:10.480> every<00:17:10.799> days<00:17:11.919> people<00:17:12.240> are<00:17:12.319> discussing 00:17:14.150 --> 00:17:14.160 align:start position:0% nearly every days people are discussing 00:17:14.160 --> 00:17:16.710 align:start position:0% nearly every days people are discussing how<00:17:14.400> to<00:17:14.559> improve<00:17:15.280> how<00:17:15.520> to<00:17:15.679> develop<00:17:16.160> the<00:17:16.400> next 00:17:16.710 --> 00:17:16.720 align:start position:0% how to improve how to develop the next 00:17:16.720 --> 00:17:17.750 align:start position:0% how to improve how to develop the next model 00:17:17.750 --> 00:17:17.760 align:start position:0% model 00:17:17.760 --> 00:17:20.470 align:start position:0% model but<00:17:18.079> i<00:17:18.400> couldn't<00:17:18.880> find<00:17:19.679> any<00:17:20.160> couldn't 00:17:20.470 --> 00:17:20.480 align:start position:0% but i couldn't find any couldn't 00:17:20.480 --> 00:17:21.270 align:start position:0% but i couldn't find any couldn't understand 00:17:21.270 --> 00:17:21.280 align:start position:0% understand 00:17:21.280 --> 00:17:24.949 align:start position:0% understand any<00:17:21.679> keyword<00:17:22.240> is<00:17:22.559> themselves<00:17:24.240> so 00:17:24.949 --> 00:17:24.959 align:start position:0% any keyword is themselves so 00:17:24.959 --> 00:17:28.069 align:start position:0% any keyword is themselves so that's<00:17:25.839> very<00:17:27.199> very 00:17:28.069 --> 00:17:28.079 align:start position:0% that's very very 00:17:28.079 --> 00:17:31.430 align:start position:0% that's very very yeah<00:17:29.120> it's<00:17:29.280> very<00:17:29.600> hard<00:17:29.919> for<00:17:30.160> me<00:17:30.400> to<00:17:30.640> follow 00:17:31.430 --> 00:17:31.440 align:start position:0% yeah it's very hard for me to follow 00:17:31.440 --> 00:17:34.789 align:start position:0% yeah it's very hard for me to follow that's<00:17:31.679> the<00:17:31.840> starting<00:17:32.240> point 00:17:34.789 --> 00:17:34.799 align:start position:0% 00:17:34.799 --> 00:17:37.029 align:start position:0% what<00:17:35.039> changed<00:17:35.280> that<00:17:36.160> or<00:17:36.320> what<00:17:36.480> did<00:17:36.880> what 00:17:37.029 --> 00:17:37.039 align:start position:0% what changed that or what did what 00:17:37.039 --> 00:17:38.789 align:start position:0% what changed that or what did what changed<00:17:37.360> it<00:17:37.520> what<00:17:37.760> what<00:17:38.000> got<00:17:38.160> you 00:17:38.789 --> 00:17:38.799 align:start position:0% changed it what what got you 00:17:38.799 --> 00:17:42.150 align:start position:0% changed it what what got you um<00:17:39.280> or<00:17:39.440> did<00:17:39.600> you<00:17:39.760> ever<00:17:40.000> get<00:17:41.039> understanding 00:17:42.150 --> 00:17:42.160 align:start position:0% um or did you ever get understanding 00:17:42.160 --> 00:17:45.510 align:start position:0% um or did you ever get understanding yeah<00:17:42.480> so<00:17:43.200> at<00:17:43.760> fast 00:17:45.510 --> 00:17:45.520 align:start position:0% yeah so at fast 00:17:45.520 --> 00:17:48.549 align:start position:0% yeah so at fast i<00:17:46.799> sometimes<00:17:47.840> i<00:17:48.160> think 00:17:48.549 --> 00:17:48.559 align:start position:0% i sometimes i think 00:17:48.559 --> 00:17:51.909 align:start position:0% i sometimes i think think<00:17:48.799> about<00:17:49.760> okay<00:17:50.320> i<00:17:50.720> should<00:17:51.039> i<00:17:51.200> come<00:17:51.360> back<00:17:51.679> to 00:17:51.909 --> 00:17:51.919 align:start position:0% think about okay i should i come back to 00:17:51.919 --> 00:17:54.070 align:start position:0% think about okay i should i come back to the<00:17:52.080> original<00:17:52.799> one 00:17:54.070 --> 00:17:54.080 align:start position:0% the original one 00:17:54.080 --> 00:17:57.110 align:start position:0% the original one by<00:17:54.400> changing<00:17:54.960> the<00:17:56.000> this<00:17:56.799> my 00:17:57.110 --> 00:17:57.120 align:start position:0% by changing the this my 00:17:57.120 --> 00:18:00.310 align:start position:0% by changing the this my jaw<00:17:57.600> or<00:17:57.760> something<00:17:58.160> like<00:17:58.840> that 00:18:00.310 --> 00:18:00.320 align:start position:0% jaw or something like that 00:18:00.320 --> 00:18:04.470 align:start position:0% jaw or something like that but<00:18:02.000> initially<00:18:03.200> okay<00:18:03.520> there<00:18:03.679> are<00:18:03.919> some 00:18:04.470 --> 00:18:04.480 align:start position:0% but initially okay there are some 00:18:04.480 --> 00:18:07.430 align:start position:0% but initially okay there are some common<00:18:04.960> points<00:18:05.760> between<00:18:06.240> my<00:18:06.720> conventional 00:18:07.430 --> 00:18:07.440 align:start position:0% common points between my conventional 00:18:07.440 --> 00:18:08.390 align:start position:0% common points between my conventional one 00:18:08.390 --> 00:18:08.400 align:start position:0% one 00:18:08.400 --> 00:18:11.830 align:start position:0% one and<00:18:08.720> the<00:18:08.960> robotics<00:18:09.760> area<00:18:10.559> in<00:18:10.799> some<00:18:11.120> common 00:18:11.830 --> 00:18:11.840 align:start position:0% and the robotics area in some common 00:18:11.840 --> 00:18:15.190 align:start position:0% and the robotics area in some common it's<00:18:12.160> very<00:18:12.400> small<00:18:13.039> but<00:18:13.280> there<00:18:13.520> are<00:18:13.760> some<00:18:14.640> i 00:18:15.190 --> 00:18:15.200 align:start position:0% it's very small but there are some i 00:18:15.200 --> 00:18:18.390 align:start position:0% it's very small but there are some i i<00:18:15.360> was<00:18:15.600> working<00:18:16.080> desire<00:18:17.200> and<00:18:17.440> then<00:18:17.760> gradually 00:18:18.390 --> 00:18:18.400 align:start position:0% i was working desire and then gradually 00:18:18.400 --> 00:18:20.789 align:start position:0% i was working desire and then gradually gradually<00:18:18.960> shifting<00:18:19.520> to<00:18:19.760> the 00:18:20.789 --> 00:18:20.799 align:start position:0% gradually shifting to the 00:18:20.799 --> 00:18:24.470 align:start position:0% gradually shifting to the main<00:18:21.440> area<00:18:22.000> of<00:18:22.320> robotics<00:18:23.440> so<00:18:23.679> it<00:18:23.919> takes<00:18:24.240> more 00:18:24.470 --> 00:18:24.480 align:start position:0% main area of robotics so it takes more 00:18:24.480 --> 00:18:26.950 align:start position:0% main area of robotics so it takes more than<00:18:24.799> five<00:18:25.039> or<00:18:25.200> six<00:18:25.520> years 00:18:26.950 --> 00:18:26.960 align:start position:0% than five or six years 00:18:26.960 --> 00:18:30.789 align:start position:0% than five or six years what<00:18:27.120> was<00:18:27.440> that<00:18:28.000> common<00:18:28.640> area<00:18:29.840> common<00:18:30.320> area 00:18:30.789 --> 00:18:30.799 align:start position:0% what was that common area common area 00:18:30.799 --> 00:18:31.909 align:start position:0% what was that common area common area okay<00:18:31.039> it's<00:18:31.200> a 00:18:31.909 --> 00:18:31.919 align:start position:0% okay it's a 00:18:31.919 --> 00:18:35.350 align:start position:0% okay it's a good<00:18:32.160> point 00:18:35.350 --> 00:18:35.360 align:start position:0% 00:18:35.360 --> 00:18:41.110 align:start position:0% in<00:18:35.679> free<00:18:36.080> dynamics<00:18:36.880> is<00:18:37.919> often 00:18:41.110 --> 00:18:41.120 align:start position:0% 00:18:41.120 --> 00:18:45.430 align:start position:0% just<00:18:41.760> scaling<00:18:42.480> effect<00:18:43.039> scaling<00:18:43.679> is<00:18:44.000> the 00:18:45.430 --> 00:18:45.440 align:start position:0% just scaling effect scaling is the 00:18:45.440 --> 00:18:49.029 align:start position:0% just scaling effect scaling is the um<00:18:47.520> okay 00:18:49.029 --> 00:18:49.039 align:start position:0% um okay 00:18:49.039 --> 00:18:52.789 align:start position:0% um okay for<00:18:49.440> for<00:18:49.679> example<00:18:50.960> the<00:18:51.520> big 00:18:52.789 --> 00:18:52.799 align:start position:0% for for example the big 00:18:52.799 --> 00:18:56.549 align:start position:0% for for example the big fish<00:18:53.760> and<00:18:54.160> small<00:18:54.840> fish<00:18:55.919> there 00:18:56.549 --> 00:18:56.559 align:start position:0% fish and small fish there 00:18:56.559 --> 00:18:59.990 align:start position:0% fish and small fish there they<00:18:56.880> can<00:18:57.280> swim<00:18:57.919> by<00:18:58.160> using<00:18:58.480> the<00:18:58.720> fin 00:18:59.990 --> 00:19:00.000 align:start position:0% they can swim by using the fin 00:19:00.000 --> 00:19:03.669 align:start position:0% they can swim by using the fin but<00:19:00.960> bigger<00:19:01.520> and<00:19:01.760> smaller<00:19:02.160> one<00:19:02.720> is<00:19:02.960> of 00:19:03.669 --> 00:19:03.679 align:start position:0% but bigger and smaller one is of 00:19:03.679 --> 00:19:06.310 align:start position:0% but bigger and smaller one is of the<00:19:03.840> drag<00:19:04.240> force<00:19:04.799> and<00:19:05.039> lifting<00:19:05.520> force<00:19:06.160> of 00:19:06.310 --> 00:19:06.320 align:start position:0% the drag force and lifting force of 00:19:06.320 --> 00:19:08.710 align:start position:0% the drag force and lifting force of course<00:19:06.640> they<00:19:06.799> are<00:19:06.960> different 00:19:08.710 --> 00:19:08.720 align:start position:0% course they are different 00:19:08.720 --> 00:19:12.150 align:start position:0% course they are different but<00:19:09.600> if<00:19:09.919> v<00:19:10.400> scale<00:19:11.039> is<00:19:11.360> similar 00:19:12.150 --> 00:19:12.160 align:start position:0% but if v scale is similar 00:19:12.160 --> 00:19:16.070 align:start position:0% but if v scale is similar okay<00:19:13.200> then<00:19:14.160> we<00:19:14.320> can<00:19:14.799> discuss 00:19:16.070 --> 00:19:16.080 align:start position:0% okay then we can discuss 00:19:16.080 --> 00:19:20.150 align:start position:0% okay then we can discuss uh<00:19:16.799> with<00:19:17.200> the<00:19:18.960> sum 00:19:20.150 --> 00:19:20.160 align:start position:0% uh with the sum 00:19:20.160 --> 00:19:23.270 align:start position:0% uh with the sum same<00:19:21.919> dimensionally 00:19:23.270 --> 00:19:23.280 align:start position:0% same dimensionally 00:19:23.280 --> 00:19:27.990 align:start position:0% same dimensionally and<00:19:23.600> then<00:19:26.240> without<00:19:26.720> considering<00:19:27.360> the<00:19:27.520> scale 00:19:27.990 --> 00:19:28.000 align:start position:0% and then without considering the scale 00:19:28.000 --> 00:19:29.190 align:start position:0% and then without considering the scale effect 00:19:29.190 --> 00:19:29.200 align:start position:0% effect 00:19:29.200 --> 00:19:32.870 align:start position:0% effect so<00:19:29.360> we<00:19:29.520> can<00:19:29.679> discuss<00:19:30.880> so<00:19:31.520> the 00:19:32.870 --> 00:19:32.880 align:start position:0% so we can discuss so the 00:19:32.880 --> 00:19:36.150 align:start position:0% so we can discuss so the working<00:19:33.360> robot<00:19:33.840> for<00:19:34.080> example<00:19:35.280> the<00:19:35.679> very 00:19:36.150 --> 00:19:36.160 align:start position:0% working robot for example the very 00:19:36.160 --> 00:19:39.990 align:start position:0% working robot for example the very big<00:19:36.400> one<00:19:36.960> and<00:19:37.200> smaller<00:19:39.039> and 00:19:39.990 --> 00:19:40.000 align:start position:0% big one and smaller and 00:19:40.000 --> 00:19:42.150 align:start position:0% big one and smaller and energies<00:19:40.720> consumption<00:19:41.440> is<00:19:41.520> different<00:19:42.000> of 00:19:42.150 --> 00:19:42.160 align:start position:0% energies consumption is different of 00:19:42.160 --> 00:19:43.669 align:start position:0% energies consumption is different of course<00:19:42.880> the<00:19:43.120> big<00:19:43.360> one 00:19:43.669 --> 00:19:43.679 align:start position:0% course the big one 00:19:43.679 --> 00:19:46.230 align:start position:0% course the big one is<00:19:44.000> a<00:19:44.240> large<00:19:44.720> energy<00:19:45.120> consumption<00:19:46.080> the 00:19:46.230 --> 00:19:46.240 align:start position:0% is a large energy consumption the 00:19:46.240 --> 00:19:47.669 align:start position:0% is a large energy consumption the smaller<00:19:46.640> one<00:19:46.799> is<00:19:47.120> of<00:19:47.280> course 00:19:47.669 --> 00:19:47.679 align:start position:0% smaller one is of course 00:19:47.679 --> 00:19:50.789 align:start position:0% smaller one is of course small<00:19:49.120> then<00:19:49.520> i<00:19:49.679> think 00:19:50.789 --> 00:19:50.799 align:start position:0% small then i think 00:19:50.799 --> 00:19:53.029 align:start position:0% small then i think okay<00:19:51.280> there<00:19:51.520> are<00:19:51.679> some<00:19:52.160> there<00:19:52.400> should<00:19:52.640> be<00:19:52.799> some 00:19:53.029 --> 00:19:53.039 align:start position:0% okay there are some there should be some 00:19:53.039 --> 00:19:54.150 align:start position:0% okay there are some there should be some similarity 00:19:54.150 --> 00:19:54.160 align:start position:0% similarity 00:19:54.160 --> 00:19:57.750 align:start position:0% similarity law<00:19:55.440> then<00:19:56.080> i<00:19:57.120> i 00:19:57.750 --> 00:19:57.760 align:start position:0% law then i i 00:19:57.760 --> 00:20:01.430 align:start position:0% law then i i i<00:19:59.039> follow<00:19:59.760> the<00:20:00.000> equation 00:20:01.430 --> 00:20:01.440 align:start position:0% i follow the equation 00:20:01.440 --> 00:20:05.190 align:start position:0% i follow the equation and<00:20:01.679> then<00:20:02.159> the<00:20:02.960> uh<00:20:03.360> the<00:20:04.159> equation 00:20:05.190 --> 00:20:05.200 align:start position:0% and then the uh the equation 00:20:05.200 --> 00:20:09.029 align:start position:0% and then the uh the equation is<00:20:07.039> is<00:20:07.840> transformed<00:20:08.559> into<00:20:08.799> the 00:20:09.029 --> 00:20:09.039 align:start position:0% is is transformed into the 00:20:09.039 --> 00:20:10.549 align:start position:0% is is transformed into the non-dimensional 00:20:10.549 --> 00:20:10.559 align:start position:0% non-dimensional 00:20:10.559 --> 00:20:14.230 align:start position:0% non-dimensional then<00:20:10.960> i<00:20:11.120> can<00:20:11.360> get<00:20:11.840> some<00:20:12.960> new<00:20:13.440> non-dimensional 00:20:14.230 --> 00:20:14.240 align:start position:0% then i can get some new non-dimensional 00:20:14.240 --> 00:20:15.110 align:start position:0% then i can get some new non-dimensional parameter 00:20:15.110 --> 00:20:15.120 align:start position:0% parameter 00:20:15.120 --> 00:20:18.870 align:start position:0% parameter then<00:20:15.440> if<00:20:15.679> we<00:20:17.039> keep<00:20:17.520> this<00:20:17.919> parameter 00:20:18.870 --> 00:20:18.880 align:start position:0% then if we keep this parameter 00:20:18.880 --> 00:20:22.149 align:start position:0% then if we keep this parameter and<00:20:19.120> then<00:20:19.760> we<00:20:19.919> can<00:20:20.159> discuss<00:20:21.280> the<00:20:21.760> energy 00:20:22.149 --> 00:20:22.159 align:start position:0% and then we can discuss the energy 00:20:22.159 --> 00:20:23.510 align:start position:0% and then we can discuss the energy consumption 00:20:23.510 --> 00:20:23.520 align:start position:0% consumption 00:20:23.520 --> 00:20:27.190 align:start position:0% consumption role<00:20:24.640> without<00:20:25.120> considering<00:20:25.840> the<00:20:26.159> scale 00:20:27.190 --> 00:20:27.200 align:start position:0% role without considering the scale 00:20:27.200 --> 00:20:30.390 align:start position:0% role without considering the scale so<00:20:27.600> that<00:20:27.919> kind<00:20:28.240> of<00:20:29.120> common 00:20:30.390 --> 00:20:30.400 align:start position:0% so that kind of common 00:20:30.400 --> 00:20:33.990 align:start position:0% so that kind of common the<00:20:30.840> non-dimensional<00:20:31.919> and<00:20:32.159> scaling<00:20:32.840> effect 00:20:33.990 --> 00:20:34.000 align:start position:0% the non-dimensional and scaling effect 00:20:34.000 --> 00:20:36.950 align:start position:0% the non-dimensional and scaling effect so<00:20:34.559> but<00:20:34.799> actually<00:20:35.600> it's<00:20:35.919> not<00:20:36.159> the<00:20:36.320> main<00:20:36.720> part 00:20:36.950 --> 00:20:36.960 align:start position:0% so but actually it's not the main part 00:20:36.960 --> 00:20:38.630 align:start position:0% so but actually it's not the main part of<00:20:37.120> robotics 00:20:38.630 --> 00:20:38.640 align:start position:0% of robotics 00:20:38.640 --> 00:20:42.310 align:start position:0% of robotics but<00:20:38.799> was<00:20:39.200> i<00:20:39.360> was<00:20:40.640> i<00:20:40.799> was<00:20:41.039> very<00:20:41.520> afraid 00:20:42.310 --> 00:20:42.320 align:start position:0% but was i was i was very afraid 00:20:42.320 --> 00:20:45.990 align:start position:0% but was i was i was very afraid at<00:20:42.480> that<00:20:42.720> time<00:20:43.840> in<00:20:45.039> formulating 00:20:45.990 --> 00:20:46.000 align:start position:0% at that time in formulating 00:20:46.000 --> 00:20:49.029 align:start position:0% at that time in formulating and<00:20:46.320> finding<00:20:46.799> some<00:20:47.039> new<00:20:47.280> rule<00:20:48.400> okay<00:20:48.720> even 00:20:49.029 --> 00:20:49.039 align:start position:0% and finding some new rule okay even 00:20:49.039 --> 00:20:49.669 align:start position:0% and finding some new rule okay even though<00:20:49.360> this 00:20:49.669 --> 00:20:49.679 align:start position:0% though this 00:20:49.679 --> 00:20:52.149 align:start position:0% though this is<00:20:49.760> not<00:20:50.000> the<00:20:50.159> pure<00:20:50.720> main<00:20:51.039> part<00:20:51.360> of<00:20:51.600> the 00:20:52.149 --> 00:20:52.159 align:start position:0% is not the pure main part of the 00:20:52.159 --> 00:20:53.190 align:start position:0% is not the pure main part of the robotics 00:20:53.190 --> 00:20:53.200 align:start position:0% robotics 00:20:53.200 --> 00:20:56.390 align:start position:0% robotics because<00:20:53.679> i<00:20:54.320> didn't<00:20:54.720> have<00:20:55.280> much<00:20:55.600> knowledge<00:20:56.159> on 00:20:56.390 --> 00:20:56.400 align:start position:0% because i didn't have much knowledge on 00:20:56.400 --> 00:20:56.870 align:start position:0% because i didn't have much knowledge on what 00:20:56.870 --> 00:20:56.880 align:start position:0% what 00:20:56.880 --> 00:21:00.470 align:start position:0% what motor<00:20:57.280> control<00:20:58.240> because<00:20:58.880> robot<00:20:59.280> control 00:21:00.470 --> 00:21:00.480 align:start position:0% motor control because robot control 00:21:00.480 --> 00:21:04.310 align:start position:0% motor control because robot control the<00:21:00.960> essence<00:21:01.760> the<00:21:01.919> fundamental<00:21:02.720> part<00:21:03.200> is<00:21:03.600> the 00:21:04.310 --> 00:21:04.320 align:start position:0% the essence the fundamental part is the 00:21:04.320 --> 00:21:07.350 align:start position:0% the essence the fundamental part is the actuator<00:21:05.039> control<00:21:06.159> and<00:21:06.400> with<00:21:06.720> the<00:21:06.880> sensory 00:21:07.350 --> 00:21:07.360 align:start position:0% actuator control and with the sensory 00:21:07.360 --> 00:21:08.710 align:start position:0% actuator control and with the sensory feedback 00:21:08.710 --> 00:21:08.720 align:start position:0% feedback 00:21:08.720 --> 00:21:12.390 align:start position:0% feedback so<00:21:08.960> i<00:21:09.600> i<00:21:09.840> didn't<00:21:10.240> have<00:21:10.559> any<00:21:10.880> knowledge<00:21:11.280> on<00:21:11.440> that 00:21:12.390 --> 00:21:12.400 align:start position:0% so i i didn't have any knowledge on that 00:21:12.400 --> 00:21:17.510 align:start position:0% so i i didn't have any knowledge on that at<00:21:12.559> that<00:21:12.799> time<00:21:14.799> so 00:21:17.510 --> 00:21:17.520 align:start position:0% 00:21:17.520 --> 00:21:19.909 align:start position:0% so<00:21:17.760> how<00:21:17.919> did<00:21:18.080> you<00:21:18.320> start<00:21:18.720> um<00:21:19.280> getting<00:21:19.679> more 00:21:19.909 --> 00:21:19.919 align:start position:0% so how did you start um getting more 00:21:19.919 --> 00:21:20.630 align:start position:0% so how did you start um getting more involved 00:21:20.630 --> 00:21:20.640 align:start position:0% involved 00:21:20.640 --> 00:21:24.149 align:start position:0% involved in<00:21:21.520> kind<00:21:21.760> of<00:21:22.000> robotic<00:21:22.640> issues<00:21:23.200> yeah<00:21:23.520> so 00:21:24.149 --> 00:21:24.159 align:start position:0% in kind of robotic issues yeah so 00:21:24.159 --> 00:21:25.190 align:start position:0% in kind of robotic issues yeah so the<00:21:24.799> um 00:21:25.190 --> 00:21:25.200 align:start position:0% the um 00:21:25.200 --> 00:21:27.590 align:start position:0% the um [Music] 00:21:27.590 --> 00:21:27.600 align:start position:0% [Music] 00:21:27.600 --> 00:21:31.029 align:start position:0% [Music] the<00:21:28.320> first<00:21:28.880> okay<00:21:29.200> after 00:21:31.029 --> 00:21:31.039 align:start position:0% the first okay after 00:21:31.039 --> 00:21:36.549 align:start position:0% the first okay after two<00:21:31.280> or<00:21:31.440> three<00:21:31.840> years 00:21:36.549 --> 00:21:36.559 align:start position:0% 00:21:36.559 --> 00:21:40.710 align:start position:0% i<00:21:38.480> my<00:21:39.360> boss 00:21:40.710 --> 00:21:40.720 align:start position:0% i my boss 00:21:40.720 --> 00:21:44.270 align:start position:0% i my boss suggested<00:21:41.440> me<00:21:42.840> to 00:21:44.270 --> 00:21:44.280 align:start position:0% suggested me to 00:21:44.280 --> 00:21:49.830 align:start position:0% suggested me to designs<00:21:45.760> working<00:21:46.240> law<00:21:46.640> six-week<00:21:47.120> robot 00:21:49.830 --> 00:21:49.840 align:start position:0% 00:21:49.840 --> 00:21:53.669 align:start position:0% and<00:21:51.840> okay<00:21:52.240> i<00:21:52.480> did 00:21:53.669 --> 00:21:53.679 align:start position:0% and okay i did 00:21:53.679 --> 00:21:57.669 align:start position:0% and okay i did and<00:21:53.919> the<00:21:54.080> basic<00:21:54.559> concept<00:21:55.360> is 00:21:57.669 --> 00:21:57.679 align:start position:0% 00:21:57.679 --> 00:22:01.750 align:start position:0% try<00:21:58.720> the<00:21:58.960> main<00:21:59.440> body 00:22:01.750 --> 00:22:01.760 align:start position:0% try the main body 00:22:01.760 --> 00:22:05.110 align:start position:0% try the main body we<00:22:02.640> the<00:22:02.960> design<00:22:03.600> policy<00:22:04.320> is 00:22:05.110 --> 00:22:05.120 align:start position:0% we the design policy is 00:22:05.120 --> 00:22:08.390 align:start position:0% we the design policy is to<00:22:05.360> make<00:22:05.679> the<00:22:05.919> main<00:22:06.320> body<00:22:07.360> as 00:22:08.390 --> 00:22:08.400 align:start position:0% to make the main body as 00:22:08.400 --> 00:22:12.390 align:start position:0% to make the main body as horizontal<00:22:09.039> as<00:22:09.280> possible<00:22:10.240> and<00:22:10.960> as<00:22:11.600> a 00:22:12.390 --> 00:22:12.400 align:start position:0% horizontal as possible and as a 00:22:12.400 --> 00:22:15.350 align:start position:0% horizontal as possible and as a constant<00:22:13.039> height<00:22:13.360> as<00:22:13.600> possible<00:22:14.400> so<00:22:14.640> that<00:22:15.120> we 00:22:15.350 --> 00:22:15.360 align:start position:0% constant height as possible so that we 00:22:15.360 --> 00:22:16.470 align:start position:0% constant height as possible so that we can 00:22:16.470 --> 00:22:16.480 align:start position:0% can 00:22:16.480 --> 00:22:19.350 align:start position:0% can reduce<00:22:17.039> the<00:22:17.200> energy<00:22:18.240> because<00:22:18.720> if<00:22:18.880> the<00:22:19.039> main 00:22:19.350 --> 00:22:19.360 align:start position:0% reduce the energy because if the main 00:22:19.360 --> 00:22:21.110 align:start position:0% reduce the energy because if the main body<00:22:19.679> is<00:22:19.840> up<00:22:20.080> and<00:22:20.240> down 00:22:21.110 --> 00:22:21.120 align:start position:0% body is up and down 00:22:21.120 --> 00:22:24.149 align:start position:0% body is up and down so<00:22:22.720> it's<00:22:22.960> much<00:22:23.280> much<00:22:23.520> energy 00:22:24.149 --> 00:22:24.159 align:start position:0% so it's much much energy 00:22:24.159 --> 00:22:28.230 align:start position:0% so it's much much energy consumption<00:22:25.600> so<00:22:26.240> that<00:22:26.480> that<00:22:26.720> is<00:22:27.120> the<00:22:27.360> first 00:22:28.230 --> 00:22:28.240 align:start position:0% consumption so that that is the first 00:22:28.240 --> 00:22:32.710 align:start position:0% consumption so that that is the first that's<00:22:28.480> the<00:22:28.640> design<00:22:29.200> policy<00:22:30.159> so<00:22:30.480> the<00:22:30.960> um 00:22:32.710 --> 00:22:32.720 align:start position:0% that's the design policy so the um 00:22:32.720 --> 00:22:36.310 align:start position:0% that's the design policy so the um you<00:22:32.960> are<00:22:33.120> obliged<00:22:34.080> to<00:22:35.039> learn<00:22:35.600> the<00:22:35.919> motor 00:22:36.310 --> 00:22:36.320 align:start position:0% you are obliged to learn the motor 00:22:36.320 --> 00:22:37.350 align:start position:0% you are obliged to learn the motor control 00:22:37.350 --> 00:22:37.360 align:start position:0% control 00:22:37.360 --> 00:22:40.549 align:start position:0% control then<00:22:37.760> i<00:22:38.080> land<00:22:38.799> okay<00:22:39.440> so<00:22:40.080> uh 00:22:40.549 --> 00:22:40.559 align:start position:0% then i land okay so uh 00:22:40.559 --> 00:22:44.070 align:start position:0% then i land okay so uh by<00:22:40.880> necessity<00:22:41.840> i<00:22:42.080> run<00:22:42.720> gracia 00:22:44.070 --> 00:22:44.080 align:start position:0% by necessity i run gracia 00:22:44.080 --> 00:22:48.710 align:start position:0% by necessity i run gracia that's<00:22:44.400> the<00:22:44.480> way<00:22:45.360> yeah<00:22:46.080> that's<00:22:46.480> my<00:22:46.720> fast<00:22:47.120> work 00:22:48.710 --> 00:22:48.720 align:start position:0% that's the way yeah that's my fast work 00:22:48.720 --> 00:22:50.710 align:start position:0% that's the way yeah that's my fast work and<00:22:48.960> you<00:22:49.200> probably<00:22:49.760> learned<00:22:50.080> a<00:22:50.159> little<00:22:50.400> bit 00:22:50.710 --> 00:22:50.720 align:start position:0% and you probably learned a little bit 00:22:50.720 --> 00:22:51.750 align:start position:0% and you probably learned a little bit from 00:22:51.750 --> 00:22:51.760 align:start position:0% from 00:22:51.760 --> 00:22:54.310 align:start position:0% from with<00:22:52.000> just<00:22:52.240> talking<00:22:52.640> to<00:22:52.799> the<00:22:52.960> guide<00:22:53.280> dog<00:22:53.600> robot 00:22:54.310 --> 00:22:54.320 align:start position:0% with just talking to the guide dog robot 00:22:54.320 --> 00:22:55.110 align:start position:0% with just talking to the guide dog robot oh<00:22:54.559> yeah 00:22:55.110 --> 00:22:55.120 align:start position:0% oh yeah 00:22:55.120 --> 00:22:59.190 align:start position:0% oh yeah oh<00:22:55.280> yes<00:22:56.000> oh<00:22:56.159> yes<00:22:56.480> of<00:22:56.640> course 00:22:59.190 --> 00:22:59.200 align:start position:0% 00:22:59.200 --> 00:23:02.789 align:start position:0% so<00:23:02.159> that<00:23:02.480> is 00:23:02.789 --> 00:23:02.799 align:start position:0% so that is 00:23:02.799 --> 00:23:05.990 align:start position:0% so that is a<00:23:03.039> fast<00:23:03.520> robot<00:23:04.720> and<00:23:05.120> i<00:23:05.280> think 00:23:05.990 --> 00:23:06.000 align:start position:0% a fast robot and i think 00:23:06.000 --> 00:23:10.870 align:start position:0% a fast robot and i think the<00:23:06.320> project<00:23:06.960> is<00:23:08.880> five<00:23:09.120> or<00:23:09.280> six<00:23:09.600> years 00:23:10.870 --> 00:23:10.880 align:start position:0% the project is five or six years 00:23:10.880 --> 00:23:14.390 align:start position:0% the project is five or six years and<00:23:11.280> then<00:23:12.080> i<00:23:12.640> started<00:23:13.760> to 00:23:14.390 --> 00:23:14.400 align:start position:0% and then i started to 00:23:14.400 --> 00:23:17.590 align:start position:0% and then i started to the<00:23:14.799> march<00:23:15.200> fingers<00:23:16.559> hand 00:23:17.590 --> 00:23:17.600 align:start position:0% the march fingers hand 00:23:17.600 --> 00:23:20.630 align:start position:0% the march fingers hand again<00:23:18.159> this<00:23:18.720> topic<00:23:19.679> was<00:23:20.080> given 00:23:20.630 --> 00:23:20.640 align:start position:0% again this topic was given 00:23:20.640 --> 00:23:24.549 align:start position:0% again this topic was given by<00:23:20.880> my<00:23:21.200> boss 00:23:24.549 --> 00:23:24.559 align:start position:0% 00:23:24.559 --> 00:23:27.510 align:start position:0% do<00:23:24.640> you<00:23:24.720> know<00:23:24.960> why<00:23:25.200> they<00:23:25.440> were<00:23:26.240> doing<00:23:27.120> first 00:23:27.510 --> 00:23:27.520 align:start position:0% do you know why they were doing first 00:23:27.520 --> 00:23:30.070 align:start position:0% do you know why they were doing first guide<00:23:27.840> dog<00:23:28.240> and<00:23:28.320> then<00:23:28.559> six<00:23:28.960> legs 00:23:30.070 --> 00:23:30.080 align:start position:0% guide dog and then six legs 00:23:30.080 --> 00:23:33.430 align:start position:0% guide dog and then six legs and<00:23:30.240> then<00:23:30.480> hands<00:23:31.679> was<00:23:31.919> there 00:23:33.430 --> 00:23:33.440 align:start position:0% and then hands was there 00:23:33.440 --> 00:23:36.470 align:start position:0% and then hands was there oh<00:23:33.840> i<00:23:34.159> see<00:23:34.640> so<00:23:34.960> there<00:23:35.120> are<00:23:35.840> okay 00:23:36.470 --> 00:23:36.480 align:start position:0% oh i see so there are okay 00:23:36.480 --> 00:23:40.390 align:start position:0% oh i see so there are okay i<00:23:36.640> i<00:23:37.039> say<00:23:38.000> there<00:23:38.240> are<00:23:38.559> a<00:23:38.640> couple<00:23:39.039> groups 00:23:40.390 --> 00:23:40.400 align:start position:0% i i say there are a couple groups 00:23:40.400 --> 00:23:44.149 align:start position:0% i i say there are a couple groups so<00:23:40.799> some<00:23:41.039> group<00:23:42.799> is<00:23:43.360> kaido 00:23:44.149 --> 00:23:44.159 align:start position:0% so some group is kaido 00:23:44.159 --> 00:23:47.029 align:start position:0% so some group is kaido the<00:23:44.400> robot<00:23:45.279> and<00:23:45.520> some<00:23:45.760> group<00:23:46.320> is<00:23:46.720> just 00:23:47.029 --> 00:23:47.039 align:start position:0% the robot and some group is just 00:23:47.039 --> 00:23:47.590 align:start position:0% the robot and some group is just starting 00:23:47.590 --> 00:23:47.600 align:start position:0% starting 00:23:47.600 --> 00:23:50.630 align:start position:0% starting the<00:23:48.880> working<00:23:49.360> robot<00:23:50.400> i 00:23:50.630 --> 00:23:50.640 align:start position:0% the working robot i 00:23:50.640 --> 00:23:54.070 align:start position:0% the working robot i just<00:23:51.039> joined<00:23:51.679> that<00:23:52.000> project<00:23:53.200> the<00:23:53.360> initially 00:23:54.070 --> 00:23:54.080 align:start position:0% just joined that project the initially 00:23:54.080 --> 00:23:56.950 align:start position:0% just joined that project the initially i<00:23:54.480> kind<00:23:54.799> of<00:23:55.039> hope<00:23:55.520> because<00:23:56.320> i'm<00:23:56.640> just<00:23:56.880> a 00:23:56.950 --> 00:23:56.960 align:start position:0% i kind of hope because i'm just a 00:23:56.960 --> 00:23:58.070 align:start position:0% i kind of hope because i'm just a beginner 00:23:58.070 --> 00:23:58.080 align:start position:0% beginner 00:23:58.080 --> 00:24:01.350 align:start position:0% beginner so<00:23:58.480> they<00:23:58.799> didn't<00:23:59.200> expect<00:23:59.679> me<00:23:59.919> much 00:24:01.350 --> 00:24:01.360 align:start position:0% so they didn't expect me much 00:24:01.360 --> 00:24:05.110 align:start position:0% so they didn't expect me much just<00:24:01.919> okay<00:24:03.120> and<00:24:03.679> for<00:24:03.919> me<00:24:04.240> just<00:24:04.480> around<00:24:04.880> your 00:24:05.110 --> 00:24:05.120 align:start position:0% just okay and for me just around your 00:24:05.120 --> 00:24:07.110 align:start position:0% just okay and for me just around your face 00:24:07.110 --> 00:24:07.120 align:start position:0% face 00:24:07.120 --> 00:24:09.510 align:start position:0% face and<00:24:07.279> when<00:24:07.520> you<00:24:07.679> got<00:24:07.919> there<00:24:08.240> how<00:24:08.400> many<00:24:08.880> people 00:24:09.510 --> 00:24:09.520 align:start position:0% and when you got there how many people 00:24:09.520 --> 00:24:10.390 align:start position:0% and when you got there how many people were<00:24:09.760> part<00:24:10.000> of 00:24:10.390 --> 00:24:10.400 align:start position:0% were part of 00:24:10.400 --> 00:24:13.830 align:start position:0% were part of mel<00:24:12.880> so<00:24:13.120> roughly 00:24:13.830 --> 00:24:13.840 align:start position:0% mel so roughly 00:24:13.840 --> 00:24:17.190 align:start position:0% mel so roughly 20<00:24:14.640> 20<00:24:15.279> are<00:24:15.440> researchers<00:24:16.799> so 00:24:17.190 --> 00:24:17.200 align:start position:0% 20 20 are researchers so 00:24:17.200 --> 00:24:20.950 align:start position:0% 20 20 are researchers so the<00:24:17.440> group<00:24:17.919> is<00:24:18.400> uh<00:24:19.200> to<00:24:19.440> a<00:24:19.600> swing 00:24:20.950 --> 00:24:20.960 align:start position:0% the group is uh to a swing 00:24:20.960 --> 00:24:24.789 align:start position:0% the group is uh to a swing yeah<00:24:23.279> sorry<00:24:23.520> who<00:24:23.760> were<00:24:24.000> some<00:24:24.159> of<00:24:24.320> the<00:24:24.480> people 00:24:24.789 --> 00:24:24.799 align:start position:0% yeah sorry who were some of the people 00:24:24.799 --> 00:24:28.950 align:start position:0% yeah sorry who were some of the people who<00:24:24.960> worked<00:24:25.279> with<00:24:25.440> you<00:24:25.600> on<00:24:25.760> the<00:24:25.919> guide<00:24:26.240> dog 00:24:28.950 --> 00:24:28.960 align:start position:0% 00:24:28.960 --> 00:24:31.909 align:start position:0% on<00:24:29.200> the<00:24:29.360> guide<00:24:29.600> dog<00:24:30.159> project<00:24:31.120> who<00:24:31.360> are<00:24:31.520> some<00:24:31.760> of 00:24:31.909 --> 00:24:31.919 align:start position:0% on the guide dog project who are some of 00:24:31.919 --> 00:24:32.870 align:start position:0% on the guide dog project who are some of the<00:24:32.159> other 00:24:32.870 --> 00:24:32.880 align:start position:0% the other 00:24:32.880 --> 00:24:36.310 align:start position:0% the other researchers 00:24:36.310 --> 00:24:36.320 align:start position:0% 00:24:36.320 --> 00:24:39.669 align:start position:0% co-workers<00:24:37.200> a<00:24:37.440> co-worker<00:24:38.159> you<00:24:38.320> mean<00:24:38.559> the 00:24:39.669 --> 00:24:39.679 align:start position:0% co-workers a co-worker you mean the 00:24:39.679 --> 00:24:42.870 align:start position:0% co-workers a co-worker you mean the the<00:24:39.919> exact<00:24:40.559> name<00:24:41.760> if<00:24:41.840> you<00:24:42.080> remember 00:24:42.870 --> 00:24:42.880 align:start position:0% the exact name if you remember 00:24:42.880 --> 00:24:46.310 align:start position:0% the exact name if you remember oh<00:24:43.039> yes<00:24:43.360> okay<00:24:45.600> so 00:24:46.310 --> 00:24:46.320 align:start position:0% oh yes okay so 00:24:46.320 --> 00:24:51.590 align:start position:0% oh yes okay so dr<00:24:46.880> tatchi<00:24:48.480> and<00:24:49.039> dr<00:24:49.520> comoria 00:24:51.590 --> 00:24:51.600 align:start position:0% dr tatchi and dr comoria 00:24:51.600 --> 00:24:54.950 align:start position:0% dr tatchi and dr comoria and<00:24:51.760> dr<00:24:52.640> tanya<00:24:54.159> okay 00:24:54.950 --> 00:24:54.960 align:start position:0% and dr tanya okay 00:24:54.960 --> 00:25:06.470 align:start position:0% and dr tanya okay you<00:24:55.120> know<00:24:55.279> him<00:24:55.520> yes<00:24:55.760> yes<00:24:57.520> you've<00:24:57.760> met<00:24:58.000> him<00:24:58.240> too 00:25:06.470 --> 00:25:06.480 align:start position:0% 00:25:06.480 --> 00:25:10.070 align:start position:0% he<00:25:06.720> is<00:25:06.960> a<00:25:07.279> very<00:25:07.600> good<00:25:07.919> advisor 00:25:10.070 --> 00:25:10.080 align:start position:0% he is a very good advisor 00:25:10.080 --> 00:25:16.630 align:start position:0% he is a very good advisor and<00:25:10.480> he's<00:25:10.880> very<00:25:11.200> good<00:25:11.840> i<00:25:12.159> learned<00:25:12.480> a<00:25:12.840> lot 00:25:16.630 --> 00:25:16.640 align:start position:0% 00:25:16.640 --> 00:25:21.029 align:start position:0% so<00:25:17.600> these<00:25:17.919> are<00:25:18.080> main<00:25:18.400> core<00:25:18.799> methods 00:25:21.029 --> 00:25:21.039 align:start position:0% so these are main core methods 00:25:21.039 --> 00:25:26.310 align:start position:0% so these are main core methods and<00:25:21.919> okay<00:25:22.480> the<00:25:23.360> the<00:25:24.000> select<00:25:24.640> robots<00:25:25.120> also 00:25:26.310 --> 00:25:26.320 align:start position:0% and okay the the select robots also 00:25:26.320 --> 00:25:29.510 align:start position:0% and okay the the select robots also the<00:25:26.559> core<00:25:26.880> members 00:25:29.510 --> 00:25:29.520 align:start position:0% the core members 00:25:29.520 --> 00:25:32.870 align:start position:0% the core members is<00:25:29.679> one<00:25:29.840> of<00:25:30.000> them<00:25:30.480> yeah<00:25:31.840> so<00:25:32.080> anyways<00:25:32.559> uh 00:25:32.870 --> 00:25:32.880 align:start position:0% is one of them yeah so anyways uh 00:25:32.880 --> 00:25:36.070 align:start position:0% is one of them yeah so anyways uh dr<00:25:33.360> tanya<00:25:34.000> for<00:25:34.400> long<00:25:34.799> long<00:25:35.120> years 00:25:36.070 --> 00:25:36.080 align:start position:0% dr tanya for long long years 00:25:36.080 --> 00:25:39.909 align:start position:0% dr tanya for long long years he<00:25:36.240> was<00:25:36.480> my<00:25:36.640> boss<00:25:38.720> so<00:25:38.960> his<00:25:39.120> daughter<00:25:39.679> gave<00:25:39.760> me 00:25:39.909 --> 00:25:39.919 align:start position:0% he was my boss so his daughter gave me 00:25:39.919 --> 00:25:40.710 align:start position:0% he was my boss so his daughter gave me the<00:25:40.000> hand 00:25:40.710 --> 00:25:40.720 align:start position:0% the hand 00:25:40.720 --> 00:25:48.230 align:start position:0% the hand oh 00:25:48.230 --> 00:25:48.240 align:start position:0% 00:25:48.240 --> 00:25:51.350 align:start position:0% eventually<00:25:49.039> he<00:25:49.200> was<00:25:50.559> he<00:25:50.799> was 00:25:51.350 --> 00:25:51.360 align:start position:0% eventually he was he was 00:25:51.360 --> 00:25:55.430 align:start position:0% eventually he was he was almost<00:25:51.919> the<00:25:52.080> head<00:25:52.400> of<00:25:52.559> the<00:25:54.159> man 00:25:55.430 --> 00:25:55.440 align:start position:0% almost the head of the man 00:25:55.440 --> 00:25:58.149 align:start position:0% almost the head of the man personnel<00:25:56.159> disappeared<00:25:57.039> it<00:25:57.200> just<00:25:57.520> is<00:25:57.760> just 00:25:58.149 --> 00:25:58.159 align:start position:0% personnel disappeared it just is just 00:25:58.159 --> 00:25:58.870 align:start position:0% personnel disappeared it just is just changed 00:25:58.870 --> 00:25:58.880 align:start position:0% changed 00:25:58.880 --> 00:26:02.510 align:start position:0% changed from<00:25:59.120> immigrant<00:25:59.679> to<00:25:59.919> aisds 00:26:02.510 --> 00:26:02.520 align:start position:0% from immigrant to aisds 00:26:02.520 --> 00:26:05.110 align:start position:0% from immigrant to aisds [Music] 00:26:05.110 --> 00:26:05.120 align:start position:0% [Music] 00:26:05.120 --> 00:26:06.789 align:start position:0% [Music] yeah<00:26:05.279> i<00:26:05.440> met<00:26:05.600> him<00:26:05.840> because<00:26:06.159> i<00:26:06.240> was<00:26:06.400> working 00:26:06.789 --> 00:26:06.799 align:start position:0% yeah i met him because i was working 00:26:06.799 --> 00:26:08.870 align:start position:0% yeah i met him because i was working with<00:26:07.520> a<00:26:07.679> son 00:26:08.870 --> 00:26:08.880 align:start position:0% with a son 00:26:08.880 --> 00:26:12.230 align:start position:0% with a son so<00:26:11.520> so<00:26:11.760> i<00:26:11.840> was 00:26:12.230 --> 00:26:12.240 align:start position:0% so so i was 00:26:12.240 --> 00:26:15.830 align:start position:0% so so i was an<00:26:12.400> exchange<00:26:13.360> researcher<00:26:14.640> um<00:26:15.039> and<00:26:15.200> he<00:26:15.440> put<00:26:15.679> me 00:26:15.830 --> 00:26:15.840 align:start position:0% an exchange researcher um and he put me 00:26:15.840 --> 00:26:16.789 align:start position:0% an exchange researcher um and he put me with<00:26:16.000> the<00:26:16.240> puddle 00:26:16.789 --> 00:26:16.799 align:start position:0% with the puddle 00:26:16.799 --> 00:26:21.190 align:start position:0% with the puddle project<00:26:17.600> so<00:26:18.240> that's<00:26:18.480> when<00:26:18.640> i<00:26:18.720> met<00:26:18.880> him 00:26:21.190 --> 00:26:21.200 align:start position:0% 00:26:21.200 --> 00:26:35.190 align:start position:0% did<00:26:21.360> you<00:26:21.520> meet<00:26:21.840> the<00:26:22.000> doctor<00:26:22.880> yes 00:26:35.190 --> 00:26:35.200 align:start position:0% 00:26:35.200 --> 00:26:37.510 align:start position:0% so<00:26:35.600> what<00:26:35.840> was<00:26:36.320> what<00:26:36.480> were<00:26:36.720> some<00:26:36.960> of<00:26:37.039> the<00:26:37.200> things 00:26:37.510 --> 00:26:37.520 align:start position:0% so what was what were some of the things 00:26:37.520 --> 00:26:38.789 align:start position:0% so what was what were some of the things you<00:26:37.679> were<00:26:37.919> interested<00:26:38.400> in<00:26:38.559> in<00:26:38.640> the 00:26:38.789 --> 00:26:38.799 align:start position:0% you were interested in in the 00:26:38.799 --> 00:26:40.549 align:start position:0% you were interested in in the multi-finger<00:26:39.760> hand 00:26:40.549 --> 00:26:40.559 align:start position:0% multi-finger hand 00:26:40.559 --> 00:26:43.190 align:start position:0% multi-finger hand what<00:26:40.799> kinds<00:26:41.120> of<00:26:41.440> problems<00:26:42.000> did<00:26:42.159> you<00:26:42.320> do<00:26:42.799> okay 00:26:43.190 --> 00:26:43.200 align:start position:0% what kinds of problems did you do okay 00:26:43.200 --> 00:26:43.909 align:start position:0% what kinds of problems did you do okay so 00:26:43.909 --> 00:26:43.919 align:start position:0% so 00:26:43.919 --> 00:26:47.909 align:start position:0% so i<00:26:44.480> every<00:26:44.880> time<00:26:45.760> further<00:26:46.080> i<00:26:46.320> think 00:26:47.909 --> 00:26:47.919 align:start position:0% i every time further i think 00:26:47.919 --> 00:26:51.830 align:start position:0% i every time further i think for<00:26:48.080> the<00:26:48.240> research<00:26:48.880> is<00:26:49.840> i<00:26:50.080> want<00:26:50.320> to<00:26:50.559> do 00:26:51.830 --> 00:26:51.840 align:start position:0% for the research is i want to do 00:26:51.840 --> 00:26:54.870 align:start position:0% for the research is i want to do something<00:26:52.480> which<00:26:54.000> never<00:26:54.480> done 00:26:54.870 --> 00:26:54.880 align:start position:0% something which never done 00:26:54.880 --> 00:26:58.870 align:start position:0% something which never done by<00:26:55.200> other<00:26:55.520> people<00:26:57.120> and 00:26:58.870 --> 00:26:58.880 align:start position:0% by other people and 00:26:58.880 --> 00:27:01.510 align:start position:0% by other people and okay<00:26:59.200> there<00:26:59.440> are<00:27:00.080> many<00:27:00.400> many<00:27:00.720> people<00:27:01.039> working 00:27:01.510 --> 00:27:01.520 align:start position:0% okay there are many many people working 00:27:01.520 --> 00:27:02.549 align:start position:0% okay there are many many people working on 00:27:02.549 --> 00:27:02.559 align:start position:0% on 00:27:02.559 --> 00:27:06.470 align:start position:0% on multi-finger<00:27:03.200> robot<00:27:04.960> but 00:27:06.470 --> 00:27:06.480 align:start position:0% multi-finger robot but 00:27:06.480 --> 00:27:09.669 align:start position:0% multi-finger robot but my<00:27:08.080> my<00:27:08.480> idea<00:27:09.279> is 00:27:09.669 --> 00:27:09.679 align:start position:0% my my idea is 00:27:09.679 --> 00:27:13.590 align:start position:0% my my idea is the 00:27:13.590 --> 00:27:13.600 align:start position:0% 00:27:13.600 --> 00:27:16.630 align:start position:0% some<00:27:14.000> new<00:27:14.400> sensor 00:27:16.630 --> 00:27:16.640 align:start position:0% some new sensor 00:27:16.640 --> 00:27:19.990 align:start position:0% some new sensor is<00:27:18.480> to<00:27:18.799> implement<00:27:19.440> some<00:27:19.679> new 00:27:19.990 --> 00:27:20.000 align:start position:0% is to implement some new 00:27:20.000 --> 00:27:23.350 align:start position:0% is to implement some new sensor<00:27:20.480> especially<00:27:22.640> okay 00:27:23.350 --> 00:27:23.360 align:start position:0% sensor especially okay 00:27:23.360 --> 00:27:27.350 align:start position:0% sensor especially okay if<00:27:23.520> we<00:27:24.559> have<00:27:25.679> some<00:27:26.080> object 00:27:27.350 --> 00:27:27.360 align:start position:0% if we have some object 00:27:27.360 --> 00:27:30.630 align:start position:0% if we have some object so<00:27:27.600> human<00:27:28.159> is<00:27:28.720> unconsciously<00:27:30.240> we<00:27:30.399> can 00:27:30.630 --> 00:27:30.640 align:start position:0% so human is unconsciously we can 00:27:30.640 --> 00:27:31.990 align:start position:0% so human is unconsciously we can manipulate<00:27:31.360> object 00:27:31.990 --> 00:27:32.000 align:start position:0% manipulate object 00:27:32.000 --> 00:27:36.070 align:start position:0% manipulate object very<00:27:32.840> dexterity<00:27:34.320> but 00:27:36.070 --> 00:27:36.080 align:start position:0% very dexterity but 00:27:36.080 --> 00:27:39.430 align:start position:0% very dexterity but for<00:27:36.559> very<00:27:36.880> simple<00:27:37.360> task<00:27:37.919> is<00:27:38.240> robot<00:27:38.720> is<00:27:39.039> really 00:27:39.430 --> 00:27:39.440 align:start position:0% for very simple task is robot is really 00:27:39.440 --> 00:27:40.389 align:start position:0% for very simple task is robot is really really<00:27:39.919> hard 00:27:40.389 --> 00:27:40.399 align:start position:0% really hard 00:27:40.399 --> 00:27:44.549 align:start position:0% really hard i<00:27:40.640> learned<00:27:41.840> that<00:27:42.240> kind<00:27:42.559> of<00:27:42.880> fact 00:27:44.549 --> 00:27:44.559 align:start position:0% i learned that kind of fact 00:27:44.559 --> 00:27:49.990 align:start position:0% i learned that kind of fact through<00:27:45.200> the<00:27:45.520> first<00:27:45.919> model<00:27:46.559> of<00:27:47.120> a<00:27:47.360> hand 00:27:49.990 --> 00:27:50.000 align:start position:0% 00:27:50.000 --> 00:27:53.269 align:start position:0% and<00:27:50.880> i<00:27:51.520> implemented<00:27:52.320> i<00:27:52.799> i 00:27:53.269 --> 00:27:53.279 align:start position:0% and i implemented i i 00:27:53.279 --> 00:27:56.470 align:start position:0% and i implemented i i recognized<00:27:54.240> i<00:27:54.480> realized<00:27:55.760> the 00:27:56.470 --> 00:27:56.480 align:start position:0% recognized i realized the 00:27:56.480 --> 00:28:00.549 align:start position:0% recognized i realized the four<00:27:56.799> sensors<00:27:58.159> is<00:27:58.640> very<00:27:58.960> important 00:28:00.549 --> 00:28:00.559 align:start position:0% four sensors is very important 00:28:00.559 --> 00:28:04.070 align:start position:0% four sensors is very important for<00:28:00.799> the<00:28:01.039> hand<00:28:01.919> artificial<00:28:02.799> hand 00:28:04.070 --> 00:28:04.080 align:start position:0% for the hand artificial hand 00:28:04.080 --> 00:28:08.389 align:start position:0% for the hand artificial hand and<00:28:04.799> i<00:28:07.039> designed 00:28:08.389 --> 00:28:08.399 align:start position:0% and i designed 00:28:08.399 --> 00:28:11.990 align:start position:0% and i designed invented<00:28:09.039> a<00:28:09.279> new<00:28:09.760> type<00:28:10.080> of<00:28:10.399> torque<00:28:10.720> sensor 00:28:11.990 --> 00:28:12.000 align:start position:0% invented a new type of torque sensor 00:28:12.000 --> 00:28:15.590 align:start position:0% invented a new type of torque sensor and<00:28:13.120> that<00:28:13.360> is<00:28:13.600> very<00:28:13.919> effective<00:28:14.960> and 00:28:15.590 --> 00:28:15.600 align:start position:0% and that is very effective and 00:28:15.600 --> 00:28:18.549 align:start position:0% and that is very effective and we<00:28:15.840> got<00:28:16.159> a<00:28:16.320> patent<00:28:16.720> not<00:28:16.960> only<00:28:17.200> japan<00:28:17.760> but<00:28:18.240> but 00:28:18.549 --> 00:28:18.559 align:start position:0% we got a patent not only japan but but 00:28:18.559 --> 00:28:21.110 align:start position:0% we got a patent not only japan but but also<00:28:18.799> the<00:28:19.039> united<00:28:19.520> states 00:28:21.110 --> 00:28:21.120 align:start position:0% also the united states 00:28:21.120 --> 00:28:23.830 align:start position:0% also the united states but<00:28:21.360> see<00:28:21.840> the<00:28:22.000> time<00:28:22.320> is<00:28:22.399> already<00:28:22.799> expired<00:28:23.440> it's 00:28:23.830 --> 00:28:23.840 align:start position:0% but see the time is already expired it's 00:28:23.840 --> 00:28:24.230 align:start position:0% but see the time is already expired it's not 00:28:24.230 --> 00:28:24.240 align:start position:0% not 00:28:24.240 --> 00:28:27.990 align:start position:0% not everyone<00:28:24.960> can<00:28:25.200> use<00:28:25.440> it<00:28:26.799> but<00:28:27.120> then 00:28:27.990 --> 00:28:28.000 align:start position:0% everyone can use it but then 00:28:28.000 --> 00:28:31.190 align:start position:0% everyone can use it but then okay<00:28:28.399> that<00:28:28.799> that<00:28:29.039> is<00:28:29.360> a<00:28:29.679> very<00:28:30.000> big<00:28:30.320> advancement 00:28:31.190 --> 00:28:31.200 align:start position:0% okay that that is a very big advancement 00:28:31.200 --> 00:28:31.990 align:start position:0% okay that that is a very big advancement for<00:28:31.440> me 00:28:31.990 --> 00:28:32.000 align:start position:0% for me 00:28:32.000 --> 00:28:35.269 align:start position:0% for me to<00:28:32.240> run<00:28:32.640> the<00:28:32.960> sensor<00:28:34.000> and<00:28:34.240> also<00:28:34.640> to<00:28:34.880> run<00:28:35.120> the 00:28:35.269 --> 00:28:35.279 align:start position:0% to run the sensor and also to run the 00:28:35.279 --> 00:28:35.909 align:start position:0% to run the sensor and also to run the control 00:28:35.909 --> 00:28:35.919 align:start position:0% control 00:28:35.919 --> 00:28:44.230 align:start position:0% control activity<00:28:36.559> control<00:28:37.039> system<00:28:38.559> of<00:28:38.799> the<00:28:42.840> robot 00:28:44.230 --> 00:28:44.240 align:start position:0% activity control system of the robot 00:28:44.240 --> 00:28:47.909 align:start position:0% activity control system of the robot and<00:28:44.480> when<00:28:44.720> was<00:28:45.039> that<00:28:45.360> project<00:28:47.039> that's 00:28:47.909 --> 00:28:47.919 align:start position:0% and when was that project that's 00:28:47.919 --> 00:28:53.350 align:start position:0% and when was that project that's that<00:28:48.320> is<00:28:48.720> uh<00:28:49.240> 1980<00:28:51.080> 86 00:28:53.350 --> 00:28:53.360 align:start position:0% that is uh 1980 86 00:28:53.360 --> 00:28:56.830 align:start position:0% that is uh 1980 86 and<00:28:54.240> okay<00:28:54.720> it's<00:28:54.960> coming<00:28:55.840> so 00:28:56.830 --> 00:28:56.840 align:start position:0% and okay it's coming so 00:28:56.840 --> 00:28:59.909 align:start position:0% and okay it's coming so i<00:28:57.760> involved<00:28:59.200> the 00:28:59.909 --> 00:28:59.919 align:start position:0% i involved the 00:28:59.919 --> 00:29:03.750 align:start position:0% i involved the hand<00:29:00.399> research<00:29:02.320> for<00:29:02.720> more<00:29:03.039> than 00:29:03.750 --> 00:29:03.760 align:start position:0% hand research for more than 00:29:03.760 --> 00:29:07.830 align:start position:0% hand research for more than more<00:29:04.080> than<00:29:04.880> since<00:29:05.279> that<00:29:05.679> time 00:29:07.830 --> 00:29:07.840 align:start position:0% more than since that time 00:29:07.840 --> 00:29:11.510 align:start position:0% more than since that time almost<00:29:08.399> 20<00:29:08.720> years<00:29:09.600> okay<00:29:10.080> that<00:29:10.320> is<00:29:10.559> my 00:29:11.510 --> 00:29:11.520 align:start position:0% almost 20 years okay that is my 00:29:11.520 --> 00:29:14.630 align:start position:0% almost 20 years okay that is my my<00:29:12.559> main<00:29:13.200> major 00:29:14.630 --> 00:29:14.640 align:start position:0% my main major 00:29:14.640 --> 00:29:18.149 align:start position:0% my main major work<00:29:16.240> on<00:29:16.559> robotics 00:29:18.149 --> 00:29:18.159 align:start position:0% work on robotics 00:29:18.159 --> 00:29:21.510 align:start position:0% work on robotics in<00:29:18.399> robotics<00:29:19.039> yes<00:29:20.320> so<00:29:20.640> the<00:29:20.960> i 00:29:21.510 --> 00:29:21.520 align:start position:0% in robotics yes so the i 00:29:21.520 --> 00:29:24.549 align:start position:0% in robotics yes so the i i<00:29:22.080> developed<00:29:23.279> so<00:29:23.600> far 00:29:24.549 --> 00:29:24.559 align:start position:0% i developed so far 00:29:24.559 --> 00:29:28.310 align:start position:0% i developed so far five<00:29:24.880> or<00:29:25.120> six<00:29:26.240> robot<00:29:26.880> hand 00:29:28.310 --> 00:29:28.320 align:start position:0% five or six robot hand 00:29:28.320 --> 00:29:31.510 align:start position:0% five or six robot hand so<00:29:30.480> initially 00:29:31.510 --> 00:29:31.520 align:start position:0% so initially 00:29:31.520 --> 00:29:34.630 align:start position:0% so initially is<00:29:32.159> just<00:29:32.559> two<00:29:32.720> fingers<00:29:33.760> and<00:29:34.000> then<00:29:34.399> three 00:29:34.630 --> 00:29:34.640 align:start position:0% is just two fingers and then three 00:29:34.640 --> 00:29:35.909 align:start position:0% is just two fingers and then three fingers 00:29:35.909 --> 00:29:35.919 align:start position:0% fingers 00:29:35.919 --> 00:29:39.350 align:start position:0% fingers okay<00:29:36.880> so<00:29:37.440> that<00:29:37.840> then<00:29:38.240> so 00:29:39.350 --> 00:29:39.360 align:start position:0% okay so that then so 00:29:39.360 --> 00:29:42.950 align:start position:0% okay so that then so every<00:29:40.000> design<00:29:40.880> i<00:29:41.200> learned<00:29:41.919> something 00:29:42.950 --> 00:29:42.960 align:start position:0% every design i learned something 00:29:42.960 --> 00:29:46.070 align:start position:0% every design i learned something so<00:29:43.200> the<00:29:43.440> gradually<00:29:44.159> my<00:29:44.399> knowledge<00:29:44.880> increased 00:29:46.070 --> 00:29:46.080 align:start position:0% so the gradually my knowledge increased 00:29:46.080 --> 00:29:49.190 align:start position:0% so the gradually my knowledge increased and<00:29:46.720> then<00:29:47.200> more<00:29:47.559> sophisticated<00:29:48.559> the<00:29:48.720> robot 00:29:49.190 --> 00:29:49.200 align:start position:0% and then more sophisticated the robot 00:29:49.200 --> 00:29:50.149 align:start position:0% and then more sophisticated the robot hands 00:29:50.149 --> 00:29:50.159 align:start position:0% hands 00:29:50.159 --> 00:29:55.350 align:start position:0% hands so<00:29:51.120> we<00:29:51.760> i<00:29:52.080> could<00:29:52.880> design 00:29:55.350 --> 00:29:55.360 align:start position:0% so we i could design 00:29:55.360 --> 00:29:57.750 align:start position:0% so we i could design and<00:29:55.520> were<00:29:55.679> you<00:29:55.840> looking<00:29:56.240> at<00:29:56.640> work<00:29:57.039> that<00:29:57.520> was 00:29:57.750 --> 00:29:57.760 align:start position:0% and were you looking at work that was 00:29:57.760 --> 00:29:59.110 align:start position:0% and were you looking at work that was previously<00:29:58.399> done 00:29:59.110 --> 00:29:59.120 align:start position:0% previously done 00:29:59.120 --> 00:30:02.870 align:start position:0% previously done in<00:29:59.360> other<00:29:59.600> places<00:30:00.240> about<00:30:00.640> robot<00:30:01.120> hands 00:30:02.870 --> 00:30:02.880 align:start position:0% in other places about robot hands 00:30:02.880 --> 00:30:05.029 align:start position:0% in other places about robot hands another<00:30:03.440> place<00:30:03.679> in<00:30:04.000> the<00:30:04.320> the<00:30:04.480> different 00:30:05.029 --> 00:30:05.039 align:start position:0% another place in the the different 00:30:05.039 --> 00:30:06.230 align:start position:0% another place in the the different institutions 00:30:06.230 --> 00:30:06.240 align:start position:0% institutions 00:30:06.240 --> 00:30:16.230 align:start position:0% institutions another<00:30:06.640> place 00:30:16.230 --> 00:30:16.240 align:start position:0% 00:30:16.240 --> 00:30:20.630 align:start position:0% is<00:30:16.559> my<00:30:17.039> textbook 00:30:20.630 --> 00:30:20.640 align:start position:0% 00:30:20.640 --> 00:30:27.350 align:start position:0% that's 00:30:27.350 --> 00:30:27.360 align:start position:0% 00:30:27.360 --> 00:30:31.029 align:start position:0% so<00:30:27.679> actually<00:30:28.320> it's<00:30:28.559> a<00:30:28.720> tendon<00:30:29.120> driven<00:30:29.520> system 00:30:31.029 --> 00:30:31.039 align:start position:0% so actually it's a tendon driven system 00:30:31.039 --> 00:30:34.950 align:start position:0% so actually it's a tendon driven system and<00:30:33.360> there<00:30:33.600> is 00:30:34.950 --> 00:30:34.960 align:start position:0% and there is 00:30:34.960 --> 00:30:38.230 align:start position:0% and there is various<00:30:35.440> categories<00:30:36.559> category 00:30:38.230 --> 00:30:38.240 align:start position:0% various categories category 00:30:38.240 --> 00:30:41.430 align:start position:0% various categories category and<00:30:40.240> for<00:30:40.480> example 00:30:41.430 --> 00:30:41.440 align:start position:0% and for example 00:30:41.440 --> 00:30:46.149 align:start position:0% and for example the<00:30:41.679> human<00:30:42.080> hand<00:30:42.720> also<00:30:43.200> is<00:30:43.440> driven<00:30:43.760> by<00:30:44.240> tendon 00:30:46.149 --> 00:30:46.159 align:start position:0% the human hand also is driven by tendon 00:30:46.159 --> 00:30:49.110 align:start position:0% the human hand also is driven by tendon and<00:30:46.640> human<00:30:47.039> in<00:30:47.200> human<00:30:47.600> hand<00:30:48.159> is<00:30:48.320> a<00:30:48.480> tendon 00:30:49.110 --> 00:30:49.120 align:start position:0% and human in human hand is a tendon 00:30:49.120 --> 00:30:50.070 align:start position:0% and human in human hand is a tendon coupled 00:30:50.070 --> 00:30:50.080 align:start position:0% coupled 00:30:50.080 --> 00:30:53.750 align:start position:0% coupled so<00:30:50.320> one<00:30:50.640> joint<00:30:51.120> maybe<00:30:51.520> it's<00:30:51.760> a<00:30:52.000> many<00:30:52.399> tendons 00:30:53.750 --> 00:30:53.760 align:start position:0% so one joint maybe it's a many tendons 00:30:53.760 --> 00:30:57.509 align:start position:0% so one joint maybe it's a many tendons and<00:30:54.159> for<00:30:54.320> the<00:30:54.559> robot<00:30:56.240> so 00:30:57.509 --> 00:30:57.519 align:start position:0% and for the robot so 00:30:57.519 --> 00:31:00.789 align:start position:0% and for the robot so just<00:30:57.840> like<00:30:59.279> one<00:30:59.840> motor<00:31:00.399> for 00:31:00.789 --> 00:31:00.799 align:start position:0% just like one motor for 00:31:00.799 --> 00:31:04.870 align:start position:0% just like one motor for one<00:31:01.200> joint<00:31:02.240> so<00:31:02.480> this<00:31:02.720> is<00:31:02.880> a<00:31:03.200> simplest<00:31:03.679> one 00:31:04.870 --> 00:31:04.880 align:start position:0% one joint so this is a simplest one 00:31:04.880 --> 00:31:08.389 align:start position:0% one joint so this is a simplest one and<00:31:05.120> the<00:31:05.360> solid<00:31:05.600> spirit<00:31:06.080> one<00:31:06.559> is<00:31:07.760> okay 00:31:08.389 --> 00:31:08.399 align:start position:0% and the solid spirit one is okay 00:31:08.399 --> 00:31:11.430 align:start position:0% and the solid spirit one is okay so<00:31:08.880> one<00:31:09.200> finger<00:31:09.840> is<00:31:10.240> for<00:31:10.399> example 00:31:11.430 --> 00:31:11.440 align:start position:0% so one finger is for example 00:31:11.440 --> 00:31:16.230 align:start position:0% so one finger is for example three<00:31:11.840> joint<00:31:12.880> and<00:31:13.200> then 00:31:16.230 --> 00:31:16.240 align:start position:0% 00:31:16.240 --> 00:31:19.430 align:start position:0% their<00:31:16.559> approach<00:31:17.279> there<00:31:17.519> are<00:31:18.159> four<00:31:18.480> actuators 00:31:19.430 --> 00:31:19.440 align:start position:0% their approach there are four actuators 00:31:19.440 --> 00:31:22.870 align:start position:0% their approach there are four actuators implemented<00:31:20.640> so<00:31:21.120> joint<00:31:21.600> number<00:31:22.159> plus<00:31:22.559> one 00:31:22.870 --> 00:31:22.880 align:start position:0% implemented so joint number plus one 00:31:22.880 --> 00:31:24.710 align:start position:0% implemented so joint number plus one actuator 00:31:24.710 --> 00:31:24.720 align:start position:0% actuator 00:31:24.720 --> 00:31:28.789 align:start position:0% actuator then<00:31:25.120> totally<00:31:25.760> the<00:31:27.440> actuator<00:31:28.159> can<00:31:28.320> control 00:31:28.789 --> 00:31:28.799 align:start position:0% then totally the actuator can control 00:31:28.799 --> 00:31:29.590 align:start position:0% then totally the actuator can control the<00:31:29.039> tension 00:31:29.590 --> 00:31:29.600 align:start position:0% the tension 00:31:29.600 --> 00:31:34.149 align:start position:0% the tension as<00:31:29.760> well<00:31:31.440> and<00:31:32.480> usually<00:31:33.200> so<00:31:33.600> one 00:31:34.149 --> 00:31:34.159 align:start position:0% as well and usually so one 00:31:34.159 --> 00:31:37.430 align:start position:0% as well and usually so one joint<00:31:34.720> is<00:31:34.960> one<00:31:35.279> actually<00:31:35.840> this<00:31:36.080> is<00:31:36.320> simple 00:31:37.430 --> 00:31:37.440 align:start position:0% joint is one actually this is simple 00:31:37.440 --> 00:31:40.070 align:start position:0% joint is one actually this is simple and<00:31:37.600> the<00:31:37.760> control<00:31:38.240> is<00:31:38.480> easy<00:31:38.880> because<00:31:39.360> the<00:31:39.840> one 00:31:40.070 --> 00:31:40.080 align:start position:0% and the control is easy because the one 00:31:40.080 --> 00:31:42.310 align:start position:0% and the control is easy because the one this<00:31:40.399> joint<00:31:40.880> only<00:31:41.120> one<00:31:41.360> actuator 00:31:42.310 --> 00:31:42.320 align:start position:0% this joint only one actuator 00:31:42.320 --> 00:31:45.590 align:start position:0% this joint only one actuator only<00:31:42.720> focus<00:31:43.120> on<00:31:43.360> this<00:31:44.159> uh<00:31:45.039> one 00:31:45.590 --> 00:31:45.600 align:start position:0% only focus on this uh one 00:31:45.600 --> 00:31:48.630 align:start position:0% only focus on this uh one particular<00:31:47.360> actuator<00:31:48.159> for 00:31:48.630 --> 00:31:48.640 align:start position:0% particular actuator for 00:31:48.640 --> 00:31:51.830 align:start position:0% particular actuator for controlling<00:31:49.360> just<00:31:49.600> one<00:31:49.840> child<00:31:51.440> this<00:31:51.679> is<00:31:51.760> the 00:31:51.830 --> 00:31:51.840 align:start position:0% controlling just one child this is the 00:31:51.840 --> 00:31:53.350 align:start position:0% controlling just one child this is the second<00:31:52.320> pattern 00:31:53.350 --> 00:31:53.360 align:start position:0% second pattern 00:31:53.360 --> 00:31:56.630 align:start position:0% second pattern and<00:31:53.679> sound<00:31:54.000> pattern<00:31:54.720> is 00:31:56.630 --> 00:31:56.640 align:start position:0% and sound pattern is 00:31:56.640 --> 00:32:00.710 align:start position:0% and sound pattern is the<00:31:56.880> one<00:31:57.200> joint<00:31:57.760> is<00:31:57.919> driven<00:31:58.320> by<00:31:58.799> two<00:31:59.039> actuator 00:32:00.710 --> 00:32:00.720 align:start position:0% the one joint is driven by two actuator 00:32:00.720 --> 00:32:05.590 align:start position:0% the one joint is driven by two actuator and<00:32:01.679> so<00:32:02.320> n<00:32:02.720> joint<00:32:03.200> means<00:32:03.519> two<00:32:03.840> in<00:32:04.080> actuator 00:32:05.590 --> 00:32:05.600 align:start position:0% and so n joint means two in actuator 00:32:05.600 --> 00:32:08.230 align:start position:0% and so n joint means two in actuator so<00:32:05.840> there<00:32:06.000> are<00:32:06.159> three<00:32:06.480> categories<00:32:07.679> and<00:32:07.919> such 00:32:08.230 --> 00:32:08.240 align:start position:0% so there are three categories and such 00:32:08.240 --> 00:32:09.350 align:start position:0% so there are three categories and such various<00:32:08.559> approaches 00:32:09.350 --> 00:32:09.360 align:start position:0% various approaches 00:32:09.360 --> 00:32:12.230 align:start position:0% various approaches n<00:32:09.760> joint<00:32:10.480> is<00:32:10.640> controlled<00:32:11.120> by<00:32:11.360> n<00:32:11.600> plus<00:32:11.919> one 00:32:12.230 --> 00:32:12.240 align:start position:0% n joint is controlled by n plus one 00:32:12.240 --> 00:32:13.430 align:start position:0% n joint is controlled by n plus one attribute 00:32:13.430 --> 00:32:13.440 align:start position:0% attribute 00:32:13.440 --> 00:32:16.549 align:start position:0% attribute so<00:32:13.840> my<00:32:14.080> approach<00:32:14.640> is<00:32:15.039> all<00:32:15.519> one<00:32:15.840> actuator 00:32:16.549 --> 00:32:16.559 align:start position:0% so my approach is all one actuator 00:32:16.559 --> 00:32:19.590 align:start position:0% so my approach is all one actuator is<00:32:16.720> one<00:32:17.039> joint<00:32:18.080> that<00:32:18.320> is<00:32:18.640> a 00:32:19.590 --> 00:32:19.600 align:start position:0% is one joint that is a 00:32:19.600 --> 00:32:22.389 align:start position:0% is one joint that is a simplest<00:32:20.159> one<00:32:20.799> so<00:32:21.120> any<00:32:21.519> joint<00:32:22.000> is<00:32:22.159> an 00:32:22.389 --> 00:32:22.399 align:start position:0% simplest one so any joint is an 00:32:22.399 --> 00:32:23.990 align:start position:0% simplest one so any joint is an attribute 00:32:23.990 --> 00:32:24.000 align:start position:0% attribute 00:32:24.000 --> 00:32:28.789 align:start position:0% attribute then<00:32:24.600> disadvantage<00:32:25.760> is<00:32:26.840> the 00:32:28.789 --> 00:32:28.799 align:start position:0% then disadvantage is the 00:32:28.799 --> 00:32:31.590 align:start position:0% then disadvantage is the this<00:32:29.120> system<00:32:29.600> can't<00:32:29.919> control<00:32:30.399> the<00:32:30.559> tension 00:32:31.590 --> 00:32:31.600 align:start position:0% this system can't control the tension 00:32:31.600 --> 00:32:33.029 align:start position:0% this system can't control the tension the<00:32:31.840> tension<00:32:32.399> is 00:32:33.029 --> 00:32:33.039 align:start position:0% the tension is 00:32:33.039 --> 00:32:35.990 align:start position:0% the tension is physically<00:32:33.919> for<00:32:34.080> example<00:32:34.799> the<00:32:35.120> actuator's 00:32:35.990 --> 00:32:36.000 align:start position:0% physically for example the actuator's 00:32:36.000 --> 00:32:36.549 align:start position:0% physically for example the actuator's base 00:32:36.549 --> 00:32:36.559 align:start position:0% base 00:32:36.559 --> 00:32:39.669 align:start position:0% base is<00:32:37.039> moved<00:32:37.440> like<00:32:37.679> this<00:32:38.240> so<00:32:38.480> that<00:32:38.799> we<00:32:38.960> can 00:32:39.669 --> 00:32:39.679 align:start position:0% is moved like this so that we can 00:32:39.679 --> 00:32:42.789 align:start position:0% is moved like this so that we can keep<00:32:40.159> the<00:32:40.559> appropriate<00:32:41.279> tension 00:32:42.789 --> 00:32:42.799 align:start position:0% keep the appropriate tension 00:32:42.799 --> 00:32:46.070 align:start position:0% keep the appropriate tension so<00:32:44.159> we<00:32:44.399> need<00:32:44.799> the 00:32:46.070 --> 00:32:46.080 align:start position:0% so we need the 00:32:46.080 --> 00:32:50.789 align:start position:0% so we need the some<00:32:47.039> tension<00:32:47.600> mechanical<00:32:48.240> tension<00:32:48.559> control 00:32:50.789 --> 00:32:50.799 align:start position:0% some tension mechanical tension control 00:32:50.799 --> 00:32:54.870 align:start position:0% some tension mechanical tension control but<00:32:51.039> anyway<00:32:51.600> the<00:32:51.840> southwest<00:32:53.360> so<00:32:53.600> approach 00:32:54.870 --> 00:32:54.880 align:start position:0% but anyway the southwest so approach 00:32:54.880 --> 00:32:58.240 align:start position:0% but anyway the southwest so approach i<00:32:55.120> done<00:32:55.519> a<00:32:55.600> lot<00:32:55.840> that<00:32:56.080> is<00:32:56.720> excellent 00:32:58.240 --> 00:32:58.250 align:start position:0% i done a lot that is excellent 00:32:58.250 --> 00:32:59.430 align:start position:0% i done a lot that is excellent [Music] 00:32:59.430 --> 00:32:59.440 align:start position:0% [Music] 00:32:59.440 --> 00:33:01.190 align:start position:0% [Music] so<00:32:59.600> did<00:32:59.760> you<00:32:59.919> visit<00:33:00.640> did<00:33:00.799> you<00:33:00.960> do<00:33:01.039> any 00:33:01.190 --> 00:33:01.200 align:start position:0% so did you visit did you do any 00:33:01.200 --> 00:33:03.350 align:start position:0% so did you visit did you do any traveling<00:33:01.679> and<00:33:01.840> visit<00:33:02.240> him<00:33:02.480> or<00:33:02.640> visit<00:33:02.960> other 00:33:03.350 --> 00:33:03.360 align:start position:0% traveling and visit him or visit other 00:33:03.360 --> 00:33:06.470 align:start position:0% traveling and visit him or visit other yes<00:33:04.159> so<00:33:04.559> i<00:33:04.720> visited 00:33:06.470 --> 00:33:06.480 align:start position:0% yes so i visited 00:33:06.480 --> 00:33:10.070 align:start position:0% yes so i visited mit<00:33:07.039> at<00:33:07.120> that<00:33:07.360> time<00:33:07.679> he<00:33:07.840> was<00:33:08.840> mit 00:33:10.070 --> 00:33:10.080 align:start position:0% mit at that time he was mit 00:33:10.080 --> 00:33:13.990 align:start position:0% mit at that time he was mit and<00:33:10.640> i<00:33:10.880> visited<00:33:11.600> many<00:33:12.080> places 00:33:13.990 --> 00:33:14.000 align:start position:0% and i visited many places 00:33:14.000 --> 00:33:17.350 align:start position:0% and i visited many places as<00:33:14.559> one<00:33:15.039> is<00:33:15.279> the<00:33:16.320> dlr 00:33:17.350 --> 00:33:17.360 align:start position:0% as one is the dlr 00:33:17.360 --> 00:33:20.389 align:start position:0% as one is the dlr hand<00:33:18.240> this<00:33:18.399> is<00:33:18.480> another<00:33:18.960> very<00:33:19.279> famous<00:33:19.760> hand 00:33:20.389 --> 00:33:20.399 align:start position:0% hand this is another very famous hand 00:33:20.399 --> 00:33:23.590 align:start position:0% hand this is another very famous hand in<00:33:20.640> german 00:33:23.590 --> 00:33:23.600 align:start position:0% 00:33:23.600 --> 00:33:26.950 align:start position:0% and<00:33:24.080> in<00:33:24.399> italy<00:33:25.120> also<00:33:25.679> the<00:33:26.159> maybe<00:33:26.559> you<00:33:26.640> know 00:33:26.950 --> 00:33:26.960 align:start position:0% and in italy also the maybe you know 00:33:26.960 --> 00:33:30.230 align:start position:0% and in italy also the maybe you know dario<00:33:27.760> power<00:33:28.240> value<00:33:29.120> and 00:33:30.230 --> 00:33:30.240 align:start position:0% dario power value and 00:33:30.240 --> 00:33:34.149 align:start position:0% dario power value and he<00:33:30.480> is<00:33:30.640> also<00:33:31.039> one<00:33:31.279> of<00:33:31.440> the<00:33:31.600> pioneer<00:33:32.960> in<00:33:33.200> such<00:33:33.600> a 00:33:34.149 --> 00:33:34.159 align:start position:0% he is also one of the pioneer in such a 00:33:34.159 --> 00:33:37.269 align:start position:0% he is also one of the pioneer in such a hand<00:33:36.960> so 00:33:37.269 --> 00:33:37.279 align:start position:0% hand so 00:33:37.279 --> 00:33:42.710 align:start position:0% hand so anyway<00:33:37.679> i<00:33:37.919> visit<00:33:38.399> many<00:33:38.799> places 00:33:42.710 --> 00:33:42.720 align:start position:0% 00:33:42.720 --> 00:33:44.789 align:start position:0% and<00:33:42.960> how<00:33:43.200> did<00:33:43.440> you<00:33:43.919> what<00:33:44.080> were<00:33:44.399> some<00:33:44.559> of<00:33:44.720> the 00:33:44.789 --> 00:33:44.799 align:start position:0% and how did you what were some of the 00:33:44.799 --> 00:33:46.389 align:start position:0% and how did you what were some of the differences<00:33:45.600> between 00:33:46.389 --> 00:33:46.399 align:start position:0% differences between 00:33:46.399 --> 00:33:49.029 align:start position:0% differences between the<00:33:46.640> different<00:33:47.039> hands<00:33:47.519> that<00:33:47.760> you<00:33:48.000> built<00:33:48.880> how 00:33:49.029 --> 00:33:49.039 align:start position:0% the different hands that you built how 00:33:49.039 --> 00:33:50.230 align:start position:0% the different hands that you built how did<00:33:49.279> you 00:33:50.230 --> 00:33:50.240 align:start position:0% did you 00:33:50.240 --> 00:33:53.830 align:start position:0% did you kind<00:33:50.399> of<00:33:50.559> develop<00:33:51.360> the<00:33:51.519> hand<00:33:52.240> their<00:33:52.480> point 00:33:53.830 --> 00:33:53.840 align:start position:0% kind of develop the hand their point 00:33:53.840 --> 00:33:57.029 align:start position:0% kind of develop the hand their point is<00:33:55.279> i<00:33:55.679> my<00:33:56.640> my 00:33:57.029 --> 00:33:57.039 align:start position:0% is i my my 00:33:57.039 --> 00:34:01.190 align:start position:0% is i my my interesting<00:33:57.679> point<00:33:58.880> is<00:33:59.279> the<00:33:59.760> force<00:34:00.080> control 00:34:01.190 --> 00:34:01.200 align:start position:0% interesting point is the force control 00:34:01.200 --> 00:34:04.950 align:start position:0% interesting point is the force control for<00:34:02.080> compliance<00:34:02.640> control<00:34:03.840> i<00:34:04.080> mean<00:34:04.399> the 00:34:04.950 --> 00:34:04.960 align:start position:0% for compliance control i mean the 00:34:04.960 --> 00:34:07.990 align:start position:0% for compliance control i mean the human<00:34:06.880> and 00:34:07.990 --> 00:34:08.000 align:start position:0% human and 00:34:08.000 --> 00:34:12.069 align:start position:0% human and we<00:34:08.240> can<00:34:09.599> control<00:34:10.240> the<00:34:10.639> fingertip 00:34:12.069 --> 00:34:12.079 align:start position:0% we can control the fingertip 00:34:12.079 --> 00:34:15.669 align:start position:0% we can control the fingertip compliance<00:34:13.599> so<00:34:14.079> for<00:34:14.320> example<00:34:14.960> if<00:34:15.119> you<00:34:15.359> keep 00:34:15.669 --> 00:34:15.679 align:start position:0% compliance so for example if you keep 00:34:15.679 --> 00:34:16.869 align:start position:0% compliance so for example if you keep tension 00:34:16.869 --> 00:34:16.879 align:start position:0% tension 00:34:16.879 --> 00:34:19.990 align:start position:0% tension that<00:34:17.119> part<00:34:17.359> because<00:34:17.760> the<00:34:18.000> muscle<00:34:18.399> is<00:34:18.839> here<00:34:19.760> and 00:34:19.990 --> 00:34:20.000 align:start position:0% that part because the muscle is here and 00:34:20.000 --> 00:34:20.710 align:start position:0% that part because the muscle is here and if<00:34:20.159> you<00:34:20.399> keep 00:34:20.710 --> 00:34:20.720 align:start position:0% if you keep 00:34:20.720 --> 00:34:23.589 align:start position:0% if you keep tension<00:34:21.280> and<00:34:21.520> then<00:34:22.320> the<00:34:22.480> fingertip<00:34:23.119> becomes 00:34:23.589 --> 00:34:23.599 align:start position:0% tension and then the fingertip becomes 00:34:23.599 --> 00:34:24.550 align:start position:0% tension and then the fingertip becomes stiff 00:34:24.550 --> 00:34:24.560 align:start position:0% stiff 00:34:24.560 --> 00:34:27.589 align:start position:0% stiff but<00:34:24.879> if<00:34:25.040> you<00:34:25.200> lose<00:34:25.520> tension<00:34:26.320> fingertip<00:34:26.879> is 00:34:27.589 --> 00:34:27.599 align:start position:0% but if you lose tension fingertip is 00:34:27.599 --> 00:34:30.710 align:start position:0% but if you lose tension fingertip is moved<00:34:27.919> very<00:34:29.280> compliantly 00:34:30.710 --> 00:34:30.720 align:start position:0% moved very compliantly 00:34:30.720 --> 00:34:33.829 align:start position:0% moved very compliantly so<00:34:31.040> this<00:34:31.440> function<00:34:31.919> is<00:34:32.079> very<00:34:32.399> important<00:34:33.119> to 00:34:33.829 --> 00:34:33.839 align:start position:0% so this function is very important to 00:34:33.839 --> 00:34:36.790 align:start position:0% so this function is very important to manipulate<00:34:34.480> the<00:34:34.720> object<00:34:35.119> dextrously 00:34:36.790 --> 00:34:36.800 align:start position:0% manipulate the object dextrously 00:34:36.800 --> 00:34:40.950 align:start position:0% manipulate the object dextrously so<00:34:37.359> the<00:34:38.000> my<00:34:38.399> concern<00:34:39.200> always 00:34:40.950 --> 00:34:40.960 align:start position:0% so the my concern always 00:34:40.960 --> 00:34:44.710 align:start position:0% so the my concern always how<00:34:41.200> to<00:34:41.359> generate<00:34:42.079> such<00:34:42.399> a<00:34:42.560> compliance<00:34:43.679> okay 00:34:44.710 --> 00:34:44.720 align:start position:0% how to generate such a compliance okay 00:34:44.720 --> 00:34:47.990 align:start position:0% how to generate such a compliance okay but<00:34:44.960> this<00:34:45.280> is<00:34:45.599> not<00:34:46.159> easy<00:34:47.200> but<00:34:47.359> since<00:34:47.679> my 00:34:47.990 --> 00:34:48.000 align:start position:0% but this is not easy but since my 00:34:48.000 --> 00:34:51.750 align:start position:0% but this is not easy but since my point<00:34:48.399> is<00:34:50.000> that<00:34:50.399> such<00:34:50.639> compliance<00:34:51.200> figurative 00:34:51.750 --> 00:34:51.760 align:start position:0% point is that such compliance figurative 00:34:51.760 --> 00:34:54.310 align:start position:0% point is that such compliance figurative compliance 00:34:54.310 --> 00:34:54.320 align:start position:0% compliance 00:34:54.320 --> 00:34:55.800 align:start position:0% compliance so 00:34:55.800 --> 00:34:55.810 align:start position:0% so 00:34:55.810 --> 00:34:57.990 align:start position:0% so [Music] 00:34:57.990 --> 00:34:58.000 align:start position:0% [Music] 00:34:58.000 --> 00:35:01.990 align:start position:0% [Music] my<00:34:58.240> sensor<00:34:58.880> is<00:34:59.200> the<00:35:00.400> so-called<00:35:01.040> the<00:35:01.280> toxins 00:35:01.990 --> 00:35:02.000 align:start position:0% my sensor is the so-called the toxins 00:35:02.000 --> 00:35:05.270 align:start position:0% my sensor is the so-called the toxins or<00:35:02.240> four<00:35:02.560> sensors<00:35:03.680> and<00:35:04.160> four<00:35:04.400> sensors<00:35:04.960> really 00:35:05.270 --> 00:35:05.280 align:start position:0% or four sensors and four sensors really 00:35:05.280 --> 00:35:08.870 align:start position:0% or four sensors and four sensors really important 00:35:08.870 --> 00:35:08.880 align:start position:0% 00:35:08.880 --> 00:35:12.150 align:start position:0% but<00:35:09.119> actually<00:35:10.240> for<00:35:10.560> for<00:35:10.880> the<00:35:11.200> our<00:35:11.599> human 00:35:12.150 --> 00:35:12.160 align:start position:0% but actually for for the our human 00:35:12.160 --> 00:35:15.510 align:start position:0% but actually for for the our human hand 00:35:15.510 --> 00:35:15.520 align:start position:0% 00:35:15.520 --> 00:35:18.630 align:start position:0% there<00:35:15.760> is<00:35:16.000> no<00:35:16.560> false<00:35:16.800> sensor 00:35:18.630 --> 00:35:18.640 align:start position:0% there is no false sensor 00:35:18.640 --> 00:35:22.069 align:start position:0% there is no false sensor but<00:35:19.040> just<00:35:19.440> force<00:35:19.760> control<00:35:20.640> is<00:35:20.960> done 00:35:22.069 --> 00:35:22.079 align:start position:0% but just force control is done 00:35:22.079 --> 00:35:25.190 align:start position:0% but just force control is done by<00:35:22.560> keeping<00:35:23.040> tension<00:35:23.839> so<00:35:24.160> by<00:35:24.400> will 00:35:25.190 --> 00:35:25.200 align:start position:0% by keeping tension so by will 00:35:25.200 --> 00:35:28.470 align:start position:0% by keeping tension so by will so<00:35:25.440> then<00:35:25.760> the<00:35:26.000> muscle<00:35:26.880> contract<00:35:28.000> then 00:35:28.470 --> 00:35:28.480 align:start position:0% so then the muscle contract then 00:35:28.480 --> 00:35:32.230 align:start position:0% so then the muscle contract then okay<00:35:29.440> fingertip<00:35:30.160> is<00:35:30.640> uh<00:35:31.119> doesn't<00:35:31.520> move 00:35:32.230 --> 00:35:32.240 align:start position:0% okay fingertip is uh doesn't move 00:35:32.240 --> 00:35:35.829 align:start position:0% okay fingertip is uh doesn't move even<00:35:32.480> though<00:35:32.800> some<00:35:33.119> external<00:35:33.680> force<00:35:34.000> is<00:35:34.240> given 00:35:35.829 --> 00:35:35.839 align:start position:0% even though some external force is given 00:35:35.839 --> 00:35:37.750 align:start position:0% even though some external force is given that's<00:35:36.240> for<00:35:36.400> the<00:35:36.560> robot<00:35:36.960> system<00:35:37.440> if<00:35:37.599> you 00:35:37.750 --> 00:35:37.760 align:start position:0% that's for the robot system if you 00:35:37.760 --> 00:35:39.829 align:start position:0% that's for the robot system if you utilize<00:35:38.320> the<00:35:38.560> wire 00:35:39.829 --> 00:35:39.839 align:start position:0% utilize the wire 00:35:39.839 --> 00:35:43.190 align:start position:0% utilize the wire and<00:35:40.320> the<00:35:40.800> wire<00:35:41.359> and<00:35:41.599> the<00:35:42.000> outer<00:35:42.640> two 00:35:43.190 --> 00:35:43.200 align:start position:0% and the wire and the outer two 00:35:43.200 --> 00:35:44.950 align:start position:0% and the wire and the outer two just<00:35:43.520> like<00:35:43.760> operating<00:35:44.320> system<00:35:44.720> in<00:35:44.800> the 00:35:44.950 --> 00:35:44.960 align:start position:0% just like operating system in the 00:35:44.960 --> 00:35:48.069 align:start position:0% just like operating system in the bicycle<00:35:46.079> so<00:35:46.400> that<00:35:46.640> is 00:35:48.069 --> 00:35:48.079 align:start position:0% bicycle so that is 00:35:48.079 --> 00:35:51.190 align:start position:0% bicycle so that is it's<00:35:48.320> a<00:35:48.480> very<00:35:48.880> big<00:35:49.119> friction<00:35:50.000> in<00:35:50.240> it 00:35:51.190 --> 00:35:51.200 align:start position:0% it's a very big friction in it 00:35:51.200 --> 00:35:54.550 align:start position:0% it's a very big friction in it then<00:35:51.680> it<00:35:51.839> is<00:35:52.000> really<00:35:52.400> hard<00:35:53.440> to<00:35:53.839> achieve<00:35:54.320> the 00:35:54.550 --> 00:35:54.560 align:start position:0% then it is really hard to achieve the 00:35:54.560 --> 00:35:54.950 align:start position:0% then it is really hard to achieve the fine 00:35:54.950 --> 00:35:54.960 align:start position:0% fine 00:35:54.960 --> 00:35:58.069 align:start position:0% fine force<00:35:55.280> control<00:35:55.839> at<00:35:56.000> the<00:35:56.160> finite<00:35:56.839> level 00:35:58.069 --> 00:35:58.079 align:start position:0% force control at the finite level 00:35:58.079 --> 00:36:01.109 align:start position:0% force control at the finite level so<00:35:58.400> the<00:35:58.960> in<00:35:59.200> order<00:35:59.520> to<00:35:59.920> achieve<00:36:00.400> the<00:36:00.720> fine 00:36:01.109 --> 00:36:01.119 align:start position:0% so the in order to achieve the fine 00:36:01.119 --> 00:36:02.630 align:start position:0% so the in order to achieve the fine force<00:36:01.440> control 00:36:02.630 --> 00:36:02.640 align:start position:0% force control 00:36:02.640 --> 00:36:05.910 align:start position:0% force control we<00:36:02.800> need<00:36:03.119> some<00:36:03.520> force<00:36:03.760> sensors<00:36:04.800> as<00:36:05.200> a 00:36:05.910 --> 00:36:05.920 align:start position:0% we need some force sensors as a 00:36:05.920 --> 00:36:09.670 align:start position:0% we need some force sensors as a final<00:36:06.400> joint<00:36:07.920> and<00:36:08.480> then 00:36:09.670 --> 00:36:09.680 align:start position:0% final joint and then 00:36:09.680 --> 00:36:12.150 align:start position:0% final joint and then this<00:36:10.079> force<00:36:10.480> sensor<00:36:11.040> is<00:36:11.440> force<00:36:11.760> sensing 00:36:12.150 --> 00:36:12.160 align:start position:0% this force sensor is force sensing 00:36:12.160 --> 00:36:13.109 align:start position:0% this force sensor is force sensing feedback 00:36:13.109 --> 00:36:13.119 align:start position:0% feedback 00:36:13.119 --> 00:36:16.390 align:start position:0% feedback we<00:36:13.280> can<00:36:13.680> compensate<00:36:14.400> the<00:36:14.560> friction<00:36:15.680> so<00:36:16.079> the 00:36:16.390 --> 00:36:16.400 align:start position:0% we can compensate the friction so the 00:36:16.400 --> 00:36:20.550 align:start position:0% we can compensate the friction so the it's<00:36:16.720> uh<00:36:17.599> so<00:36:18.000> that<00:36:18.480> this<00:36:18.720> is<00:36:19.359> therefore 00:36:20.550 --> 00:36:20.560 align:start position:0% it's uh so that this is therefore 00:36:20.560 --> 00:36:22.630 align:start position:0% it's uh so that this is therefore the<00:36:20.720> force<00:36:20.960> sensor<00:36:21.359> is<00:36:21.520> very<00:36:21.760> important<00:36:22.400> for 00:36:22.630 --> 00:36:22.640 align:start position:0% the force sensor is very important for 00:36:22.640 --> 00:36:24.950 align:start position:0% the force sensor is very important for the<00:36:23.440> hand 00:36:24.950 --> 00:36:24.960 align:start position:0% the hand 00:36:24.960 --> 00:36:27.990 align:start position:0% the hand as<00:36:25.280> far<00:36:25.440> as<00:36:25.680> you<00:36:25.920> utilize<00:36:27.040> such<00:36:27.440> a<00:36:27.599> poorly 00:36:27.990 --> 00:36:28.000 align:start position:0% as far as you utilize such a poorly 00:36:28.000 --> 00:36:31.430 align:start position:0% as far as you utilize such a poorly wired<00:36:28.320> driving<00:36:28.800> system 00:36:31.430 --> 00:36:31.440 align:start position:0% 00:36:31.440 --> 00:36:35.030 align:start position:0% another<00:36:31.920> important<00:36:32.480> point<00:36:32.960> is<00:36:33.359> the<00:36:34.000> backlash 00:36:35.030 --> 00:36:35.040 align:start position:0% another important point is the backlash 00:36:35.040 --> 00:36:37.589 align:start position:0% another important point is the backlash you<00:36:35.200> know<00:36:35.359> the<00:36:35.520> backlash<00:36:36.000> backlash<00:36:36.560> is<00:36:37.359> there 00:36:37.589 --> 00:36:37.599 align:start position:0% you know the backlash backlash is there 00:36:37.599 --> 00:36:38.790 align:start position:0% you know the backlash backlash is there is<00:36:37.760> a<00:36:37.920> gear 00:36:38.790 --> 00:36:38.800 align:start position:0% is a gear 00:36:38.800 --> 00:36:41.589 align:start position:0% is a gear okay<00:36:39.200> the<00:36:39.599> gear<00:36:40.000> is<00:36:40.240> often<00:36:40.560> utilized<00:36:41.280> to 00:36:41.589 --> 00:36:41.599 align:start position:0% okay the gear is often utilized to 00:36:41.599 --> 00:36:42.870 align:start position:0% okay the gear is often utilized to reduce<00:36:42.160> the 00:36:42.870 --> 00:36:42.880 align:start position:0% reduce the 00:36:42.880 --> 00:36:45.589 align:start position:0% reduce the velocity<00:36:43.440> because<00:36:43.839> water<00:36:44.240> is<00:36:44.400> usually<00:36:45.200> moving 00:36:45.589 --> 00:36:45.599 align:start position:0% velocity because water is usually moving 00:36:45.599 --> 00:36:46.710 align:start position:0% velocity because water is usually moving very<00:36:45.920> quickly 00:36:46.710 --> 00:36:46.720 align:start position:0% very quickly 00:36:46.720 --> 00:36:49.270 align:start position:0% very quickly so<00:36:47.119> if<00:36:47.280> you<00:36:47.359> utilize<00:36:47.920> the<00:36:48.000> motor<00:36:48.320> directly<00:36:48.880> to 00:36:49.270 --> 00:36:49.280 align:start position:0% so if you utilize the motor directly to 00:36:49.280 --> 00:36:51.030 align:start position:0% so if you utilize the motor directly to individual<00:36:49.920> joint 00:36:51.030 --> 00:36:51.040 align:start position:0% individual joint 00:36:51.040 --> 00:36:54.790 align:start position:0% individual joint then<00:36:51.520> okay<00:36:52.000> too<00:36:52.320> fast<00:36:53.280> but<00:36:53.680> on<00:36:53.920> the<00:36:54.000> other<00:36:54.320> hand 00:36:54.790 --> 00:36:54.800 align:start position:0% then okay too fast but on the other hand 00:36:54.800 --> 00:36:57.910 align:start position:0% then okay too fast but on the other hand is<00:36:55.280> no<00:36:56.560> not<00:36:56.800> powerful 00:36:57.910 --> 00:36:57.920 align:start position:0% is no not powerful 00:36:57.920 --> 00:37:01.750 align:start position:0% is no not powerful so<00:36:58.240> the<00:36:58.640> uh<00:36:58.880> we<00:36:59.200> reduce<00:36:59.760> the<00:36:59.920> speed<00:37:00.880> and 00:37:01.750 --> 00:37:01.760 align:start position:0% so the uh we reduce the speed and 00:37:01.760 --> 00:37:04.950 align:start position:0% so the uh we reduce the speed and for<00:37:02.320> gaining<00:37:02.800> the<00:37:03.119> power<00:37:03.599> or<00:37:03.760> not<00:37:04.079> power<00:37:04.720> for 00:37:04.950 --> 00:37:04.960 align:start position:0% for gaining the power or not power for 00:37:04.960 --> 00:37:06.950 align:start position:0% for gaining the power or not power for gaining<00:37:05.359> the<00:37:05.599> force 00:37:06.950 --> 00:37:06.960 align:start position:0% gaining the force 00:37:06.960 --> 00:37:11.430 align:start position:0% gaining the force force<00:37:07.680> and<00:37:09.760> speed 00:37:11.430 --> 00:37:11.440 align:start position:0% force and speed 00:37:11.440 --> 00:37:14.630 align:start position:0% force and speed is<00:37:13.839> multiple 00:37:14.630 --> 00:37:14.640 align:start position:0% is multiple 00:37:14.640 --> 00:37:18.310 align:start position:0% is multiple of<00:37:15.119> fly<00:37:15.599> almost<00:37:16.079> a<00:37:16.240> constant<00:37:17.359> if<00:37:17.520> you<00:37:17.760> increase 00:37:18.310 --> 00:37:18.320 align:start position:0% of fly almost a constant if you increase 00:37:18.320 --> 00:37:19.270 align:start position:0% of fly almost a constant if you increase the<00:37:18.640> force 00:37:19.270 --> 00:37:19.280 align:start position:0% the force 00:37:19.280 --> 00:37:22.230 align:start position:0% the force you<00:37:19.520> have<00:37:19.680> to<00:37:19.920> reduce<00:37:20.320> the<00:37:20.480> velocity<00:37:21.680> if<00:37:21.839> you 00:37:22.230 --> 00:37:22.240 align:start position:0% you have to reduce the velocity if you 00:37:22.240 --> 00:37:23.990 align:start position:0% you have to reduce the velocity if you increase<00:37:22.640> the<00:37:22.800> velocity 00:37:23.990 --> 00:37:24.000 align:start position:0% increase the velocity 00:37:24.000 --> 00:37:27.990 align:start position:0% increase the velocity so<00:37:24.240> that<00:37:24.960> you<00:37:25.119> can't<00:37:25.440> obtain<00:37:25.839> the<00:37:26.320> large<00:37:26.640> force 00:37:27.990 --> 00:37:28.000 align:start position:0% so that you can't obtain the large force 00:37:28.000 --> 00:37:32.550 align:start position:0% so that you can't obtain the large force okay<00:37:28.320> anyway<00:37:29.440> so<00:37:29.680> the<00:37:30.079> gear<00:37:30.880> is 00:37:32.550 --> 00:37:32.560 align:start position:0% okay anyway so the gear is 00:37:32.560 --> 00:37:35.990 align:start position:0% okay anyway so the gear is ideal<00:37:33.200> case<00:37:33.680> there<00:37:33.920> is<00:37:34.160> no<00:37:34.960> gap 00:37:35.990 --> 00:37:36.000 align:start position:0% ideal case there is no gap 00:37:36.000 --> 00:37:39.990 align:start position:0% ideal case there is no gap between<00:37:36.560> the<00:37:37.040> teeth<00:37:37.599> and<00:37:37.839> teeth<00:37:38.880> okay 00:37:39.990 --> 00:37:40.000 align:start position:0% between the teeth and teeth okay 00:37:40.000 --> 00:37:43.510 align:start position:0% between the teeth and teeth okay but<00:37:40.640> actually<00:37:41.440> there<00:37:41.680> are<00:37:42.320> small 00:37:43.510 --> 00:37:43.520 align:start position:0% but actually there are small 00:37:43.520 --> 00:37:48.150 align:start position:0% but actually there are small small<00:37:44.079> gap<00:37:46.320> moving<00:37:46.800> in<00:37:46.960> this<00:37:47.200> direction 00:37:48.150 --> 00:37:48.160 align:start position:0% small gap moving in this direction 00:37:48.160 --> 00:37:51.510 align:start position:0% small gap moving in this direction is<00:37:48.560> this<00:37:49.520> tools<00:37:50.000> it<00:37:50.160> makes<00:37:50.480> contact<00:37:50.960> with<00:37:51.200> this 00:37:51.510 --> 00:37:51.520 align:start position:0% is this tools it makes contact with this 00:37:51.520 --> 00:37:52.470 align:start position:0% is this tools it makes contact with this tools 00:37:52.470 --> 00:37:52.480 align:start position:0% tools 00:37:52.480 --> 00:37:55.910 align:start position:0% tools but<00:37:53.040> this<00:37:53.440> they<00:37:53.839> change<00:37:54.160> the<00:37:54.320> direction<00:37:55.359> okay 00:37:55.910 --> 00:37:55.920 align:start position:0% but this they change the direction okay 00:37:55.920 --> 00:37:57.990 align:start position:0% but this they change the direction okay there<00:37:56.160> are<00:37:56.320> some<00:37:56.560> gap<00:37:57.040> therefore<00:37:57.599> it<00:37:57.760> takes 00:37:57.990 --> 00:37:58.000 align:start position:0% there are some gap therefore it takes 00:37:58.000 --> 00:37:59.109 align:start position:0% there are some gap therefore it takes some<00:37:58.320> time 00:37:59.109 --> 00:37:59.119 align:start position:0% some time 00:37:59.119 --> 00:38:02.790 align:start position:0% some time delay<00:37:59.599> time<00:38:00.720> so<00:38:00.960> the<00:38:01.200> delay<00:38:01.920> is 00:38:02.790 --> 00:38:02.800 align:start position:0% delay time so the delay is 00:38:02.800 --> 00:38:06.470 align:start position:0% delay time so the delay is some<00:38:03.760> non-linear<00:38:04.960> element<00:38:05.520> non-linear<00:38:06.160> means 00:38:06.470 --> 00:38:06.480 align:start position:0% some non-linear element non-linear means 00:38:06.480 --> 00:38:07.270 align:start position:0% some non-linear element non-linear means okay 00:38:07.270 --> 00:38:07.280 align:start position:0% okay 00:38:07.280 --> 00:38:10.390 align:start position:0% okay this<00:38:07.520> is<00:38:07.760> some<00:38:08.000> gap<00:38:08.880> is<00:38:09.200> such<00:38:09.520> a<00:38:09.839> delay 00:38:10.390 --> 00:38:10.400 align:start position:0% this is some gap is such a delay 00:38:10.400 --> 00:38:13.270 align:start position:0% this is some gap is such a delay is<00:38:11.520> not<00:38:11.839> a<00:38:11.920> linear<00:38:12.320> component<00:38:12.880> that's<00:38:13.119> a 00:38:13.270 --> 00:38:13.280 align:start position:0% is not a linear component that's a 00:38:13.280 --> 00:38:15.190 align:start position:0% is not a linear component that's a non-linear<00:38:13.920> component 00:38:15.190 --> 00:38:15.200 align:start position:0% non-linear component 00:38:15.200 --> 00:38:18.550 align:start position:0% non-linear component and<00:38:15.760> the<00:38:16.320> control<00:38:18.079> system 00:38:18.550 --> 00:38:18.560 align:start position:0% and the control system 00:38:18.560 --> 00:38:21.990 align:start position:0% and the control system includes<00:38:18.880> such<00:38:19.280> a<00:38:19.440> non-linear<00:38:20.560> element 00:38:21.990 --> 00:38:22.000 align:start position:0% includes such a non-linear element 00:38:22.000 --> 00:38:25.109 align:start position:0% includes such a non-linear element then<00:38:22.800> it<00:38:23.040> not<00:38:23.520> control<00:38:24.000> itself<00:38:24.400> is<00:38:24.560> not<00:38:24.800> that 00:38:25.109 --> 00:38:25.119 align:start position:0% then it not control itself is not that 00:38:25.119 --> 00:38:26.069 align:start position:0% then it not control itself is not that easy 00:38:26.069 --> 00:38:26.079 align:start position:0% easy 00:38:26.079 --> 00:38:29.430 align:start position:0% easy so<00:38:26.320> the<00:38:26.960> ideal<00:38:27.520> situation<00:38:28.240> is<00:38:28.560> no<00:38:28.880> gap 00:38:29.430 --> 00:38:29.440 align:start position:0% so the ideal situation is no gap 00:38:29.440 --> 00:38:32.390 align:start position:0% so the ideal situation is no gap just<00:38:30.160> in<00:38:30.480> this<00:38:30.720> direction<00:38:31.359> okay<00:38:31.680> always<00:38:32.079> makes 00:38:32.390 --> 00:38:32.400 align:start position:0% just in this direction okay always makes 00:38:32.400 --> 00:38:33.030 align:start position:0% just in this direction okay always makes contact 00:38:33.030 --> 00:38:33.040 align:start position:0% contact 00:38:33.040 --> 00:38:35.030 align:start position:0% contact uh<00:38:33.359> this<00:38:33.680> point<00:38:34.000> makes<00:38:34.320> contact<00:38:34.720> with<00:38:34.800> this 00:38:35.030 --> 00:38:35.040 align:start position:0% uh this point makes contact with this 00:38:35.040 --> 00:38:37.270 align:start position:0% uh this point makes contact with this part<00:38:35.680> and<00:38:35.920> the<00:38:36.240> opposite 00:38:37.270 --> 00:38:37.280 align:start position:0% part and the opposite 00:38:37.280 --> 00:38:41.030 align:start position:0% part and the opposite rotation<00:38:38.320> okay<00:38:38.720> the<00:38:38.880> other<00:38:39.760> part<00:38:40.240> is<00:38:40.560> contact 00:38:41.030 --> 00:38:41.040 align:start position:0% rotation okay the other part is contact 00:38:41.040 --> 00:38:41.670 align:start position:0% rotation okay the other part is contact to<00:38:41.200> this 00:38:41.670 --> 00:38:41.680 align:start position:0% to this 00:38:41.680 --> 00:38:45.109 align:start position:0% to this without<00:38:42.160> any<00:38:42.480> timeline<00:38:43.599> so<00:38:44.079> then<00:38:44.400> we<00:38:44.560> can<00:38:44.800> keep 00:38:45.109 --> 00:38:45.119 align:start position:0% without any timeline so then we can keep 00:38:45.119 --> 00:38:46.470 align:start position:0% without any timeline so then we can keep some<00:38:45.440> linear 00:38:46.470 --> 00:38:46.480 align:start position:0% some linear 00:38:46.480 --> 00:38:50.310 align:start position:0% some linear linear<00:38:47.599> transmission<00:38:48.320> system<00:38:49.440> that<00:38:49.760> is 00:38:50.310 --> 00:38:50.320 align:start position:0% linear transmission system that is 00:38:50.320 --> 00:38:53.349 align:start position:0% linear transmission system that is ideal<00:38:50.880> situation<00:38:51.839> so<00:38:52.079> the<00:38:52.240> question<00:38:52.880> how<00:38:53.119> to 00:38:53.349 --> 00:38:53.359 align:start position:0% ideal situation so the question how to 00:38:53.359 --> 00:38:53.910 align:start position:0% ideal situation so the question how to really 00:38:53.910 --> 00:38:53.920 align:start position:0% really 00:38:53.920 --> 00:38:57.670 align:start position:0% really such<00:38:54.240> a<00:38:54.560> ideal<00:38:55.119> situation<00:38:56.800> then 00:38:57.670 --> 00:38:57.680 align:start position:0% such a ideal situation then 00:38:57.680 --> 00:39:01.750 align:start position:0% such a ideal situation then okay<00:38:58.720> if<00:38:58.880> you<00:38:59.040> utilize<00:38:59.680> a<00:38:59.920> cable 00:39:01.750 --> 00:39:01.760 align:start position:0% okay if you utilize a cable 00:39:01.760 --> 00:39:06.950 align:start position:0% okay if you utilize a cable a<00:39:02.079> cable<00:39:02.560> has<00:39:02.880> some<00:39:04.720> elastic<00:39:05.359> element 00:39:06.950 --> 00:39:06.960 align:start position:0% a cable has some elastic element 00:39:06.960 --> 00:39:10.150 align:start position:0% a cable has some elastic element and<00:39:07.280> then<00:39:08.160> the<00:39:08.480> external 00:39:10.150 --> 00:39:10.160 align:start position:0% and then the external 00:39:10.160 --> 00:39:13.589 align:start position:0% and then the external altitude<00:39:11.520> there<00:39:11.920> are<00:39:12.160> the<00:39:12.480> contact<00:39:13.040> between 00:39:13.589 --> 00:39:13.599 align:start position:0% altitude there are the contact between 00:39:13.599 --> 00:39:16.630 align:start position:0% altitude there are the contact between outer<00:39:14.079> tube<00:39:14.640> and<00:39:14.880> internal<00:39:15.520> wire 00:39:16.630 --> 00:39:16.640 align:start position:0% outer tube and internal wire 00:39:16.640 --> 00:39:19.750 align:start position:0% outer tube and internal wire some<00:39:17.119> friction<00:39:18.000> okay<00:39:18.800> actually<00:39:19.119> this<00:39:19.280> is<00:39:19.440> very 00:39:19.750 --> 00:39:19.760 align:start position:0% some friction okay actually this is very 00:39:19.760 --> 00:39:20.870 align:start position:0% some friction okay actually this is very big<00:39:20.000> friction 00:39:20.870 --> 00:39:20.880 align:start position:0% big friction 00:39:20.880 --> 00:39:24.950 align:start position:0% big friction so<00:39:21.119> the<00:39:21.520> system<00:39:22.240> is<00:39:22.640> some<00:39:23.839> elastic 00:39:24.950 --> 00:39:24.960 align:start position:0% so the system is some elastic 00:39:24.960 --> 00:39:28.550 align:start position:0% so the system is some elastic element<00:39:25.920> and<00:39:26.480> then<00:39:26.960> the<00:39:27.359> friction<00:39:27.839> element 00:39:28.550 --> 00:39:28.560 align:start position:0% element and then the friction element 00:39:28.560 --> 00:39:30.950 align:start position:0% element and then the friction element elastic<00:39:29.280> friction<00:39:30.000> or<00:39:30.240> this<00:39:30.480> is<00:39:30.720> the 00:39:30.950 --> 00:39:30.960 align:start position:0% elastic friction or this is the 00:39:30.960 --> 00:39:33.030 align:start position:0% elastic friction or this is the distributed<00:39:31.839> system 00:39:33.030 --> 00:39:33.040 align:start position:0% distributed system 00:39:33.040 --> 00:39:37.510 align:start position:0% distributed system so<00:39:33.280> this<00:39:34.640> really<00:39:35.920> complicates<00:39:36.640> system 00:39:37.510 --> 00:39:37.520 align:start position:0% so this really complicates system 00:39:37.520 --> 00:39:39.910 align:start position:0% so this really complicates system and<00:39:37.839> then<00:39:38.160> that<00:39:38.480> kind<00:39:38.800> of<00:39:38.960> transmission 00:39:39.910 --> 00:39:39.920 align:start position:0% and then that kind of transmission 00:39:39.920 --> 00:39:40.550 align:start position:0% and then that kind of transmission system 00:39:40.550 --> 00:39:40.560 align:start position:0% system 00:39:40.560 --> 00:39:44.550 align:start position:0% system always<00:39:41.200> includes<00:39:41.760> the<00:39:43.280> backlash 00:39:44.550 --> 00:39:44.560 align:start position:0% always includes the backlash 00:39:44.560 --> 00:39:48.470 align:start position:0% always includes the backlash patras<00:39:45.119> means<00:39:46.320> if<00:39:46.640> the<00:39:47.520> actuator 00:39:48.470 --> 00:39:48.480 align:start position:0% patras means if the actuator 00:39:48.480 --> 00:39:52.310 align:start position:0% patras means if the actuator moves<00:39:49.359> start<00:39:49.760> to<00:39:50.000> move<00:39:50.880> but<00:39:51.359> output<00:39:51.839> doesn't 00:39:52.310 --> 00:39:52.320 align:start position:0% moves start to move but output doesn't 00:39:52.320 --> 00:39:53.270 align:start position:0% moves start to move but output doesn't move<00:39:52.640> fast 00:39:53.270 --> 00:39:53.280 align:start position:0% move fast 00:39:53.280 --> 00:39:56.790 align:start position:0% move fast because<00:39:53.839> there<00:39:54.000> are<00:39:54.240> some<00:39:54.480> timeline<00:39:55.760> and<00:39:56.079> then 00:39:56.790 --> 00:39:56.800 align:start position:0% because there are some timeline and then 00:39:56.800 --> 00:39:58.710 align:start position:0% because there are some timeline and then this<00:39:57.119> actuator<00:39:57.760> moves<00:39:58.079> the<00:39:58.240> opposite 00:39:58.710 --> 00:39:58.720 align:start position:0% this actuator moves the opposite 00:39:58.720 --> 00:39:59.829 align:start position:0% this actuator moves the opposite direction 00:39:59.829 --> 00:39:59.839 align:start position:0% direction 00:39:59.839 --> 00:40:03.589 align:start position:0% direction but<00:40:00.960> there<00:40:01.280> against<00:40:01.760> another<00:40:02.240> timer 00:40:03.589 --> 00:40:03.599 align:start position:0% but there against another timer 00:40:03.599 --> 00:40:06.390 align:start position:0% but there against another timer so<00:40:04.000> that<00:40:04.319> kind<00:40:04.640> of<00:40:04.800> control<00:40:05.280> system<00:40:05.760> is<00:40:06.000> very 00:40:06.390 --> 00:40:06.400 align:start position:0% so that kind of control system is very 00:40:06.400 --> 00:40:07.270 align:start position:0% so that kind of control system is very terrible 00:40:07.270 --> 00:40:07.280 align:start position:0% terrible 00:40:07.280 --> 00:40:10.630 align:start position:0% terrible i<00:40:07.599> learned<00:40:08.079> that<00:40:08.400> kind<00:40:08.839> of 00:40:10.630 --> 00:40:10.640 align:start position:0% i learned that kind of 00:40:10.640 --> 00:40:13.990 align:start position:0% i learned that kind of fact<00:40:11.599> through<00:40:12.000> the 00:40:13.990 --> 00:40:14.000 align:start position:0% fact through the 00:40:14.000 --> 00:40:17.589 align:start position:0% fact through the couple<00:40:14.400> development<00:40:15.040> of<00:40:15.280> the<00:40:15.359> hardware<00:40:16.960> and 00:40:17.589 --> 00:40:17.599 align:start position:0% couple development of the hardware and 00:40:17.599 --> 00:40:21.910 align:start position:0% couple development of the hardware and okay<00:40:18.560> so<00:40:18.960> the<00:40:19.359> i<00:40:20.000> recognize 00:40:21.910 --> 00:40:21.920 align:start position:0% okay so the i recognize 00:40:21.920 --> 00:40:24.950 align:start position:0% okay so the i recognize the<00:40:22.319> important<00:40:23.040> point<00:40:23.520> key<00:40:23.760> point<00:40:24.240> of<00:40:24.480> such<00:40:24.800> a 00:40:24.950 --> 00:40:24.960 align:start position:0% the important point key point of such a 00:40:24.960 --> 00:40:27.030 align:start position:0% the important point key point of such a tender<00:40:25.359> control<00:40:25.920> system 00:40:27.030 --> 00:40:27.040 align:start position:0% tender control system 00:40:27.040 --> 00:40:30.309 align:start position:0% tender control system is<00:40:27.359> how<00:40:27.599> to<00:40:27.839> remove<00:40:28.240> the<00:40:28.400> backlash 00:40:30.309 --> 00:40:30.319 align:start position:0% is how to remove the backlash 00:40:30.319 --> 00:40:33.990 align:start position:0% is how to remove the backlash then<00:40:31.280> my<00:40:31.520> design<00:40:32.560> is 00:40:33.990 --> 00:40:34.000 align:start position:0% then my design is 00:40:34.000 --> 00:40:38.309 align:start position:0% then my design is okay<00:40:34.560> eventually<00:40:35.119> okay<00:40:35.599> don't<00:40:36.079> use<00:40:36.839> altitude 00:40:38.309 --> 00:40:38.319 align:start position:0% okay eventually okay don't use altitude 00:40:38.319 --> 00:40:41.589 align:start position:0% okay eventually okay don't use altitude because<00:40:38.720> this<00:40:38.960> combination<00:40:39.760> tab<00:40:40.880> just<00:40:41.280> only 00:40:41.589 --> 00:40:41.599 align:start position:0% because this combination tab just only 00:40:41.599 --> 00:40:42.790 align:start position:0% because this combination tab just only the<00:40:41.839> wire 00:40:42.790 --> 00:40:42.800 align:start position:0% the wire 00:40:42.800 --> 00:40:46.150 align:start position:0% the wire okay<00:40:43.119> that<00:40:43.280> is<00:40:43.520> okay<00:40:43.920> because<00:40:44.400> wire<00:40:45.040> is 00:40:46.150 --> 00:40:46.160 align:start position:0% okay that is okay because wire is 00:40:46.160 --> 00:40:49.349 align:start position:0% okay that is okay because wire is elastic<00:40:46.800> current<00:40:47.760> elastic<00:40:48.319> element<00:40:48.880> is<00:40:49.200> a 00:40:49.349 --> 00:40:49.359 align:start position:0% elastic current elastic element is a 00:40:49.359 --> 00:40:51.589 align:start position:0% elastic current elastic element is a linear<00:40:49.839> component 00:40:51.589 --> 00:40:51.599 align:start position:0% linear component 00:40:51.599 --> 00:40:55.270 align:start position:0% linear component so<00:40:52.960> then<00:40:53.440> the<00:40:53.680> basic<00:40:54.240> could 00:40:55.270 --> 00:40:55.280 align:start position:0% so then the basic could 00:40:55.280 --> 00:40:59.270 align:start position:0% so then the basic could do<00:40:56.560> for<00:40:56.800> designing<00:40:57.520> the<00:40:57.760> hand 00:40:59.270 --> 00:40:59.280 align:start position:0% do for designing the hand 00:40:59.280 --> 00:41:02.390 align:start position:0% do for designing the hand is<00:40:59.599> that<00:41:00.079> okay<00:41:00.720> anyway<00:41:01.920> don't 00:41:02.390 --> 00:41:02.400 align:start position:0% is that okay anyway don't 00:41:02.400 --> 00:41:05.510 align:start position:0% is that okay anyway don't use<00:41:02.880> altitude<00:41:04.480> and 00:41:05.510 --> 00:41:05.520 align:start position:0% use altitude and 00:41:05.520 --> 00:41:09.670 align:start position:0% use altitude and don't<00:41:06.079> please<00:41:06.560> remove<00:41:07.520> the<00:41:07.839> subject<00:41:08.400> backlash 00:41:09.670 --> 00:41:09.680 align:start position:0% don't please remove the subject backlash 00:41:09.680 --> 00:41:12.870 align:start position:0% don't please remove the subject backlash that's<00:41:10.000> a<00:41:10.160> key<00:41:10.400> point<00:41:11.520> so<00:41:11.839> the<00:41:12.000> my<00:41:12.400> final 00:41:12.870 --> 00:41:12.880 align:start position:0% that's a key point so the my final 00:41:12.880 --> 00:41:14.550 align:start position:0% that's a key point so the my final version<00:41:13.280> of<00:41:13.520> the<00:41:13.680> robot<00:41:14.000> system 00:41:14.550 --> 00:41:14.560 align:start position:0% version of the robot system 00:41:14.560 --> 00:41:17.910 align:start position:0% version of the robot system and<00:41:14.800> hand<00:41:15.119> system<00:41:15.680> is<00:41:16.480> i<00:41:16.720> don't<00:41:16.960> utilize<00:41:17.599> any 00:41:17.910 --> 00:41:17.920 align:start position:0% and hand system is i don't utilize any 00:41:17.920 --> 00:41:19.030 align:start position:0% and hand system is i don't utilize any altitude 00:41:19.030 --> 00:41:19.040 align:start position:0% altitude 00:41:19.040 --> 00:41:22.230 align:start position:0% altitude only<00:41:19.520> the<00:41:19.920> wire<00:41:20.800> and<00:41:21.040> the<00:41:21.200> wire<00:41:21.680> length<00:41:21.920> is 00:41:22.230 --> 00:41:22.240 align:start position:0% only the wire and the wire length is 00:41:22.240 --> 00:41:25.910 align:start position:0% only the wire and the wire length is as<00:41:22.560> small<00:41:22.880> as<00:41:23.680> short<00:41:24.000> as<00:41:24.240> possible<00:41:25.200> so<00:41:25.440> that<00:41:25.760> we 00:41:25.910 --> 00:41:25.920 align:start position:0% as small as short as possible so that we 00:41:25.920 --> 00:41:26.710 align:start position:0% as small as short as possible so that we can<00:41:26.160> remove 00:41:26.710 --> 00:41:26.720 align:start position:0% can remove 00:41:26.720 --> 00:41:30.870 align:start position:0% can remove such<00:41:28.079> unexpected<00:41:29.280> friction 00:41:30.870 --> 00:41:30.880 align:start position:0% such unexpected friction 00:41:30.880 --> 00:41:33.990 align:start position:0% such unexpected friction and<00:41:31.520> we<00:41:31.760> can<00:41:32.319> keep<00:41:32.800> the<00:41:33.599> as 00:41:33.990 --> 00:41:34.000 align:start position:0% and we can keep the as 00:41:34.000 --> 00:41:37.589 align:start position:0% and we can keep the as linear<00:41:34.560> system<00:41:35.040> as<00:41:35.280> possible 00:41:37.589 --> 00:41:37.599 align:start position:0% linear system as possible 00:41:37.599 --> 00:41:41.190 align:start position:0% linear system as possible so<00:41:38.880> that's<00:41:39.119> the<00:41:39.200> key<00:41:40.160> when<00:41:40.400> did<00:41:40.560> you<00:41:40.800> finish 00:41:41.190 --> 00:41:41.200 align:start position:0% so that's the key when did you finish 00:41:41.200 --> 00:41:42.790 align:start position:0% so that's the key when did you finish your<00:41:41.440> final<00:41:41.920> hand 00:41:42.790 --> 00:41:42.800 align:start position:0% your final hand 00:41:42.800 --> 00:41:46.470 align:start position:0% your final hand final<00:41:43.200> hand<00:41:43.520> is<00:41:44.000> uh<00:41:44.920> 19 00:41:46.470 --> 00:41:46.480 align:start position:0% final hand is uh 19 00:41:46.480 --> 00:41:49.750 align:start position:0% final hand is uh 19 19<00:41:47.800> 1996<00:41:49.119> that<00:41:49.440> is 00:41:49.750 --> 00:41:49.760 align:start position:0% 19 1996 that is 00:41:49.760 --> 00:41:53.990 align:start position:0% 19 1996 that is no<00:41:50.079> actually<00:41:51.160> 2003.<00:41:52.640> that<00:41:52.880> is<00:41:53.119> my 00:41:53.990 --> 00:41:54.000 align:start position:0% no actually 2003. that is my 00:41:54.000 --> 00:41:57.510 align:start position:0% no actually 2003. that is my final<00:41:55.280> design 00:41:57.510 --> 00:41:57.520 align:start position:0% final design 00:41:57.520 --> 00:42:01.190 align:start position:0% final design and<00:41:57.760> what<00:41:57.920> were<00:41:58.240> some<00:41:58.480> of<00:41:58.720> the<00:41:59.839> the<00:42:00.480> studies<00:42:01.040> or 00:42:01.190 --> 00:42:01.200 align:start position:0% and what were some of the the studies or 00:42:01.200 --> 00:42:03.190 align:start position:0% and what were some of the the studies or experiments<00:42:01.920> that<00:42:02.079> you<00:42:02.240> did<00:42:02.480> with<00:42:02.720> the<00:42:02.880> hand 00:42:03.190 --> 00:42:03.200 align:start position:0% experiments that you did with the hand 00:42:03.200 --> 00:42:05.349 align:start position:0% experiments that you did with the hand while<00:42:03.359> you<00:42:03.520> were<00:42:03.680> designing<00:42:04.319> it 00:42:05.349 --> 00:42:05.359 align:start position:0% while you were designing it 00:42:05.359 --> 00:42:11.990 align:start position:0% while you were designing it to<00:42:06.240> to<00:42:06.400> see<00:42:06.720> how<00:42:06.880> it<00:42:07.040> works 00:42:11.990 --> 00:42:12.000 align:start position:0% 00:42:12.000 --> 00:42:16.230 align:start position:0% so<00:42:12.160> what<00:42:12.400> kind<00:42:12.640> of<00:42:12.800> studies<00:42:13.440> did<00:42:13.599> you<00:42:13.760> do<00:42:14.839> okay 00:42:16.230 --> 00:42:16.240 align:start position:0% so what kind of studies did you do okay 00:42:16.240 --> 00:42:20.309 align:start position:0% so what kind of studies did you do okay um<00:42:18.720> okay 00:42:20.309 --> 00:42:20.319 align:start position:0% um okay 00:42:20.319 --> 00:42:23.910 align:start position:0% um okay good<00:42:20.560> point<00:42:21.760> so<00:42:22.319> i<00:42:22.720> i<00:42:23.040> love 00:42:23.910 --> 00:42:23.920 align:start position:0% good point so i i love 00:42:23.920 --> 00:42:27.430 align:start position:0% good point so i i love the<00:42:24.160> simple<00:42:24.640> system<00:42:25.280> not<00:42:25.599> complicated<00:42:26.319> system 00:42:27.430 --> 00:42:27.440 align:start position:0% the simple system not complicated system 00:42:27.440 --> 00:42:30.390 align:start position:0% the simple system not complicated system but<00:42:28.160> much<00:42:28.480> finger<00:42:28.800> hand<00:42:29.200> already<00:42:29.839> complicated 00:42:30.390 --> 00:42:30.400 align:start position:0% but much finger hand already complicated 00:42:30.400 --> 00:42:31.910 align:start position:0% but much finger hand already complicated enough 00:42:31.910 --> 00:42:31.920 align:start position:0% enough 00:42:31.920 --> 00:42:36.150 align:start position:0% enough that's<00:42:32.319> the 00:42:36.150 --> 00:42:36.160 align:start position:0% 00:42:36.160 --> 00:42:40.790 align:start position:0% idea<00:42:36.880> is<00:42:37.280> i<00:42:37.520> don't<00:42:37.760> want<00:42:38.079> to<00:42:38.400> put<00:42:38.880> many<00:42:39.359> sensors 00:42:40.790 --> 00:42:40.800 align:start position:0% idea is i don't want to put many sensors 00:42:40.800 --> 00:42:45.190 align:start position:0% idea is i don't want to put many sensors such<00:42:41.119> as<00:42:41.760> humans<00:42:43.119> we<00:42:43.359> have 00:42:45.190 --> 00:42:45.200 align:start position:0% such as humans we have 00:42:45.200 --> 00:42:48.150 align:start position:0% such as humans we have four<00:42:45.920> four<00:42:46.240> kind<00:42:46.560> of<00:42:46.800> sensors<00:42:47.359> or<00:42:47.520> a<00:42:47.599> couple<00:42:47.920> of 00:42:48.150 --> 00:42:48.160 align:start position:0% four four kind of sensors or a couple of 00:42:48.160 --> 00:42:49.270 align:start position:0% four four kind of sensors or a couple of sensors 00:42:49.270 --> 00:42:49.280 align:start position:0% sensors 00:42:49.280 --> 00:42:52.630 align:start position:0% sensors this<00:42:50.079> and<00:42:50.400> then<00:42:50.720> distributed<00:42:51.680> especially 00:42:52.630 --> 00:42:52.640 align:start position:0% this and then distributed especially 00:42:52.640 --> 00:42:56.150 align:start position:0% this and then distributed especially at<00:42:52.880> the<00:42:53.040> fingertip<00:42:53.680> area<00:42:54.640> the<00:42:54.880> huge<00:42:55.440> number<00:42:55.839> of 00:42:56.150 --> 00:42:56.160 align:start position:0% at the fingertip area the huge number of 00:42:56.160 --> 00:42:57.589 align:start position:0% at the fingertip area the huge number of sensing<00:42:56.560> realm 00:42:57.589 --> 00:42:57.599 align:start position:0% sensing realm 00:42:57.599 --> 00:43:00.710 align:start position:0% sensing realm such<00:42:57.920> as<00:42:58.079> some<00:42:58.720> sensing<00:42:59.200> element<00:42:59.760> can 00:43:00.710 --> 00:43:00.720 align:start position:0% such as some sensing element can 00:43:00.720 --> 00:43:03.829 align:start position:0% such as some sensing element can detect<00:43:01.200> the<00:43:01.440> force<00:43:02.480> some<00:43:02.720> element<00:43:03.200> can<00:43:03.359> detect 00:43:03.829 --> 00:43:03.839 align:start position:0% detect the force some element can detect 00:43:03.839 --> 00:43:05.349 align:start position:0% detect the force some element can detect the<00:43:04.000> slippage 00:43:05.349 --> 00:43:05.359 align:start position:0% the slippage 00:43:05.359 --> 00:43:08.470 align:start position:0% the slippage and<00:43:05.680> some<00:43:06.000> error<00:43:06.400> can<00:43:07.200> detect<00:43:07.680> the<00:43:07.760> pressure 00:43:08.470 --> 00:43:08.480 align:start position:0% and some error can detect the pressure 00:43:08.480 --> 00:43:12.550 align:start position:0% and some error can detect the pressure and<00:43:08.640> so<00:43:08.880> forth<00:43:10.560> but<00:43:10.960> i<00:43:10.960> i 00:43:12.550 --> 00:43:12.560 align:start position:0% and so forth but i i 00:43:12.560 --> 00:43:15.829 align:start position:0% and so forth but i i didn't<00:43:13.520> uh<00:43:14.160> implement<00:43:14.640> that<00:43:14.880> kind<00:43:15.119> of<00:43:15.359> sensor 00:43:15.829 --> 00:43:15.839 align:start position:0% didn't uh implement that kind of sensor 00:43:15.839 --> 00:43:16.230 align:start position:0% didn't uh implement that kind of sensor i 00:43:16.230 --> 00:43:16.240 align:start position:0% i 00:43:16.240 --> 00:43:19.510 align:start position:0% i simply<00:43:17.440> uh<00:43:17.760> implement<00:43:18.400> the 00:43:19.510 --> 00:43:19.520 align:start position:0% simply uh implement the 00:43:19.520 --> 00:43:22.230 align:start position:0% simply uh implement the joint<00:43:20.000> position<00:43:20.560> sensor<00:43:21.119> this<00:43:21.359> is<00:43:21.599> definitely 00:43:22.230 --> 00:43:22.240 align:start position:0% joint position sensor this is definitely 00:43:22.240 --> 00:43:23.109 align:start position:0% joint position sensor this is definitely necessary 00:43:23.109 --> 00:43:23.119 align:start position:0% necessary 00:43:23.119 --> 00:43:26.390 align:start position:0% necessary otherwise<00:43:23.680> we<00:43:23.839> can't<00:43:24.160> control<00:43:24.839> the<00:43:25.920> such<00:43:26.160> kind 00:43:26.390 --> 00:43:26.400 align:start position:0% otherwise we can't control the such kind 00:43:26.400 --> 00:43:27.430 align:start position:0% otherwise we can't control the such kind of<00:43:26.560> shape 00:43:27.430 --> 00:43:27.440 align:start position:0% of shape 00:43:27.440 --> 00:43:30.710 align:start position:0% of shape and<00:43:28.000> we<00:43:28.240> implement<00:43:28.880> the<00:43:29.520> force<00:43:29.920> sensor 00:43:30.710 --> 00:43:30.720 align:start position:0% and we implement the force sensor 00:43:30.720 --> 00:43:33.430 align:start position:0% and we implement the force sensor as<00:43:30.960> i<00:43:31.040> mentioned<00:43:31.520> before<00:43:32.240> four<00:43:32.480> sensors<00:43:32.960> also 00:43:33.430 --> 00:43:33.440 align:start position:0% as i mentioned before four sensors also 00:43:33.440 --> 00:43:35.030 align:start position:0% as i mentioned before four sensors also important 00:43:35.030 --> 00:43:35.040 align:start position:0% important 00:43:35.040 --> 00:43:38.550 align:start position:0% important to<00:43:36.000> to<00:43:37.280> to<00:43:37.599> execute 00:43:38.550 --> 00:43:38.560 align:start position:0% to to to execute 00:43:38.560 --> 00:43:41.910 align:start position:0% to to to execute to<00:43:38.800> achieve<00:43:39.520> defined<00:43:40.079> forms<00:43:40.400> from<00:43:41.359> fingertip 00:43:41.910 --> 00:43:41.920 align:start position:0% to achieve defined forms from fingertip 00:43:41.920 --> 00:43:44.630 align:start position:0% to achieve defined forms from fingertip regular<00:43:42.319> force<00:43:42.560> control 00:43:44.630 --> 00:43:44.640 align:start position:0% regular force control 00:43:44.640 --> 00:43:48.630 align:start position:0% regular force control but<00:43:45.760> of<00:43:45.920> course<00:43:47.280> we<00:43:47.520> need<00:43:47.760> the<00:43:48.000> figurative 00:43:48.630 --> 00:43:48.640 align:start position:0% but of course we need the figurative 00:43:48.640 --> 00:43:50.630 align:start position:0% but of course we need the figurative tactile<00:43:49.359> sensor 00:43:50.630 --> 00:43:50.640 align:start position:0% tactile sensor 00:43:50.640 --> 00:43:55.829 align:start position:0% tactile sensor but<00:43:52.079> i<00:43:53.359> didn't<00:43:53.839> implement 00:43:55.829 --> 00:43:55.839 align:start position:0% but i didn't implement 00:43:55.839 --> 00:44:00.069 align:start position:0% but i didn't implement then<00:43:56.800> my<00:43:57.119> idea<00:43:57.839> is<00:43:58.640> okay<00:43:59.040> the<00:43:59.280> finger<00:43:59.760> fine 00:44:00.069 --> 00:44:00.079 align:start position:0% then my idea is okay the finger fine 00:44:00.079 --> 00:44:01.190 align:start position:0% then my idea is okay the finger fine fingers 00:44:01.190 --> 00:44:01.200 align:start position:0% fingers 00:44:01.200 --> 00:44:04.230 align:start position:0% fingers makes<00:44:01.760> contact<00:44:02.319> some<00:44:02.640> object 00:44:04.230 --> 00:44:04.240 align:start position:0% makes contact some object 00:44:04.240 --> 00:44:07.430 align:start position:0% makes contact some object how<00:44:04.720> to<00:44:05.200> determine<00:44:06.400> such<00:44:06.720> a<00:44:06.800> contact 00:44:07.430 --> 00:44:07.440 align:start position:0% how to determine such a contact 00:44:07.440 --> 00:44:10.950 align:start position:0% how to determine such a contact point<00:44:08.240> okay<00:44:09.359> without<00:44:09.839> using<00:44:10.240> any<00:44:10.480> tactile 00:44:10.950 --> 00:44:10.960 align:start position:0% point okay without using any tactile 00:44:10.960 --> 00:44:12.550 align:start position:0% point okay without using any tactile sensor 00:44:12.550 --> 00:44:12.560 align:start position:0% sensor 00:44:12.560 --> 00:44:15.670 align:start position:0% sensor this<00:44:12.800> is<00:44:12.960> very<00:44:13.200> interesting<00:44:13.839> topic<00:44:15.040> then 00:44:15.670 --> 00:44:15.680 align:start position:0% this is very interesting topic then 00:44:15.680 --> 00:44:18.710 align:start position:0% this is very interesting topic then my<00:44:16.240> idea<00:44:17.119> is<00:44:17.520> the 00:44:18.710 --> 00:44:18.720 align:start position:0% my idea is the 00:44:18.720 --> 00:44:22.470 align:start position:0% my idea is the um<00:44:19.599> for<00:44:20.839> example 00:44:22.470 --> 00:44:22.480 align:start position:0% um for example 00:44:22.480 --> 00:44:26.309 align:start position:0% um for example okay<00:44:23.119> this<00:44:23.359> is<00:44:23.839> my<00:44:24.480> this<00:44:24.720> is<00:44:24.960> one<00:44:25.200> finger 00:44:26.309 --> 00:44:26.319 align:start position:0% okay this is my this is one finger 00:44:26.319 --> 00:44:29.670 align:start position:0% okay this is my this is one finger and<00:44:27.440> for<00:44:27.599> example<00:44:28.079> this<00:44:28.400> shoulder<00:44:28.880> part 00:44:29.670 --> 00:44:29.680 align:start position:0% and for example this shoulder part 00:44:29.680 --> 00:44:32.790 align:start position:0% and for example this shoulder part how<00:44:30.000> it<00:44:30.079> keeps<00:44:30.480> very<00:44:30.800> confined<00:44:31.280> like<00:44:31.520> this<00:44:32.480> and 00:44:32.790 --> 00:44:32.800 align:start position:0% how it keeps very confined like this and 00:44:32.800 --> 00:44:33.510 align:start position:0% how it keeps very confined like this and then 00:44:33.510 --> 00:44:33.520 align:start position:0% then 00:44:33.520 --> 00:44:36.710 align:start position:0% then this<00:44:34.480> elbow<00:44:35.040> part<00:44:35.839> join<00:44:36.160> this<00:44:36.400> another 00:44:36.710 --> 00:44:36.720 align:start position:0% this elbow part join this another 00:44:36.720 --> 00:44:38.150 align:start position:0% this elbow part join this another actuator<00:44:37.359> here 00:44:38.150 --> 00:44:38.160 align:start position:0% actuator here 00:44:38.160 --> 00:44:40.950 align:start position:0% actuator here and<00:44:38.480> this<00:44:38.720> is<00:44:38.880> very<00:44:39.200> rigid<00:44:39.599> and<00:44:39.839> we<00:44:40.079> move<00:44:40.800> our 00:44:40.950 --> 00:44:40.960 align:start position:0% and this is very rigid and we move our 00:44:40.960 --> 00:44:41.829 align:start position:0% and this is very rigid and we move our okay 00:44:41.829 --> 00:44:41.839 align:start position:0% okay 00:44:41.839 --> 00:44:44.309 align:start position:0% okay shoulder<00:44:42.319> is<00:44:42.480> very<00:44:42.720> compliant<00:44:43.440> and<00:44:43.680> this<00:44:44.000> part 00:44:44.309 --> 00:44:44.319 align:start position:0% shoulder is very compliant and this part 00:44:44.319 --> 00:44:45.510 align:start position:0% shoulder is very compliant and this part is<00:44:44.560> very<00:44:44.800> rigid 00:44:45.510 --> 00:44:45.520 align:start position:0% is very rigid 00:44:45.520 --> 00:44:48.950 align:start position:0% is very rigid and<00:44:45.760> then<00:44:46.640> hit<00:44:46.960> for<00:44:47.200> example<00:44:47.520> here<00:44:48.400> then 00:44:48.950 --> 00:44:48.960 align:start position:0% and then hit for example here then 00:44:48.960 --> 00:44:51.510 align:start position:0% and then hit for example here then okay<00:44:49.359> additional<00:44:50.160> motion<00:44:50.640> is<00:44:50.800> given<00:44:51.200> to<00:44:51.359> the 00:44:51.510 --> 00:44:51.520 align:start position:0% okay additional motion is given to the 00:44:51.520 --> 00:44:52.630 align:start position:0% okay additional motion is given to the elbow 00:44:52.630 --> 00:44:52.640 align:start position:0% elbow 00:44:52.640 --> 00:44:55.430 align:start position:0% elbow but<00:44:53.040> this<00:44:53.280> is<00:44:53.920> very<00:44:54.240> compliant<00:44:54.800> and<00:44:54.960> then<00:44:55.200> this 00:44:55.430 --> 00:44:55.440 align:start position:0% but this is very compliant and then this 00:44:55.440 --> 00:44:57.030 align:start position:0% but this is very compliant and then this kind<00:44:55.760> of<00:44:55.839> motion<00:44:56.240> happen 00:44:57.030 --> 00:44:57.040 align:start position:0% kind of motion happen 00:44:57.040 --> 00:45:00.390 align:start position:0% kind of motion happen okay<00:44:57.839> this<00:44:58.079> is<00:44:58.160> a<00:44:58.319> conductor<00:44:58.800> point<00:44:59.920> contact 00:45:00.390 --> 00:45:00.400 align:start position:0% okay this is a conductor point contact 00:45:00.400 --> 00:45:02.309 align:start position:0% okay this is a conductor point contact point<00:45:00.800> doesn't<00:45:01.280> change 00:45:02.309 --> 00:45:02.319 align:start position:0% point doesn't change 00:45:02.319 --> 00:45:05.910 align:start position:0% point doesn't change but<00:45:02.880> the<00:45:03.280> r<00:45:03.839> may<00:45:04.160> change<00:45:04.880> posture<00:45:05.280> may<00:45:05.599> change 00:45:05.910 --> 00:45:05.920 align:start position:0% but the r may change posture may change 00:45:05.920 --> 00:45:07.270 align:start position:0% but the r may change posture may change like<00:45:06.240> this 00:45:07.270 --> 00:45:07.280 align:start position:0% like this 00:45:07.280 --> 00:45:09.750 align:start position:0% like this then<00:45:07.680> this<00:45:07.920> is<00:45:08.079> position<00:45:08.960> sensor<00:45:09.440> this<00:45:09.599> is 00:45:09.750 --> 00:45:09.760 align:start position:0% then this is position sensor this is 00:45:09.760 --> 00:45:11.510 align:start position:0% then this is position sensor this is also<00:45:10.000> position<00:45:10.480> sensor 00:45:11.510 --> 00:45:11.520 align:start position:0% also position sensor 00:45:11.520 --> 00:45:14.950 align:start position:0% also position sensor then<00:45:11.920> we<00:45:12.160> can<00:45:12.480> this<00:45:12.800> robot<00:45:13.280> know<00:45:14.079> how<00:45:14.480> this 00:45:14.950 --> 00:45:14.960 align:start position:0% then we can this robot know how this 00:45:14.960 --> 00:45:16.630 align:start position:0% then we can this robot know how this posture<00:45:15.440> looks<00:45:15.680> like 00:45:16.630 --> 00:45:16.640 align:start position:0% posture looks like 00:45:16.640 --> 00:45:19.829 align:start position:0% posture looks like but<00:45:17.200> this<00:45:17.520> point<00:45:17.839> doesn't<00:45:18.319> move<00:45:19.359> then 00:45:19.829 --> 00:45:19.839 align:start position:0% but this point doesn't move then 00:45:19.839 --> 00:45:25.510 align:start position:0% but this point doesn't move then okay<00:45:20.400> if<00:45:20.560> you<00:45:21.520> uh<00:45:22.000> have<00:45:22.319> a 00:45:25.510 --> 00:45:25.520 align:start position:0% 00:45:25.520 --> 00:45:27.990 align:start position:0% such<00:45:25.920> kind<00:45:26.240> of<00:45:26.400> posture<00:45:26.960> in<00:45:27.119> the<00:45:27.440> computer 00:45:27.990 --> 00:45:28.000 align:start position:0% such kind of posture in the computer 00:45:28.000 --> 00:45:29.190 align:start position:0% such kind of posture in the computer display 00:45:29.190 --> 00:45:29.200 align:start position:0% display 00:45:29.200 --> 00:45:32.710 align:start position:0% display and<00:45:29.520> then<00:45:30.000> okay<00:45:30.720> the<00:45:30.960> posture<00:45:31.520> is<00:45:31.839> change 00:45:32.710 --> 00:45:32.720 align:start position:0% and then okay the posture is change 00:45:32.720 --> 00:45:36.069 align:start position:0% and then okay the posture is change okay<00:45:33.440> with<00:45:33.680> respect<00:45:34.160> to<00:45:34.400> time<00:45:35.359> but<00:45:35.599> there<00:45:35.839> is 00:45:36.069 --> 00:45:36.079 align:start position:0% okay with respect to time but there is 00:45:36.079 --> 00:45:38.550 align:start position:0% okay with respect to time but there is one<00:45:36.400> point<00:45:36.800> which<00:45:37.119> doesn't<00:45:37.520> change 00:45:38.550 --> 00:45:38.560 align:start position:0% one point which doesn't change 00:45:38.560 --> 00:45:41.750 align:start position:0% one point which doesn't change because<00:45:39.040> the<00:45:39.280> contact<00:45:39.920> point<00:45:40.800> as<00:45:41.119> far<00:45:41.359> as 00:45:41.750 --> 00:45:41.760 align:start position:0% because the contact point as far as 00:45:41.760 --> 00:45:44.550 align:start position:0% because the contact point as far as object<00:45:42.160> doesn't<00:45:42.560> move<00:45:43.440> so<00:45:43.839> this<00:45:44.160> contact 00:45:44.550 --> 00:45:44.560 align:start position:0% object doesn't move so this contact 00:45:44.560 --> 00:45:46.069 align:start position:0% object doesn't move so this contact point<00:45:44.880> doesn't<00:45:45.280> change 00:45:46.069 --> 00:45:46.079 align:start position:0% point doesn't change 00:45:46.079 --> 00:45:49.270 align:start position:0% point doesn't change so<00:45:46.319> very<00:45:46.560> we<00:45:46.720> can<00:45:47.040> easily<00:45:48.240> that<00:45:48.560> one<00:45:48.880> point 00:45:49.270 --> 00:45:49.280 align:start position:0% so very we can easily that one point 00:45:49.280 --> 00:45:50.630 align:start position:0% so very we can easily that one point which<00:45:49.520> doesn't<00:45:49.920> change<00:45:50.240> oh 00:45:50.630 --> 00:45:50.640 align:start position:0% which doesn't change oh 00:45:50.640 --> 00:45:53.589 align:start position:0% which doesn't change oh this<00:45:50.880> is<00:45:51.040> a<00:45:51.119> contact<00:45:51.680> point<00:45:52.480> so<00:45:52.640> i<00:45:52.800> think<00:45:53.040> this 00:45:53.589 --> 00:45:53.599 align:start position:0% this is a contact point so i think this 00:45:53.599 --> 00:45:54.950 align:start position:0% this is a contact point so i think this idea<00:45:54.079> is 00:45:54.950 --> 00:45:54.960 align:start position:0% idea is 00:45:54.960 --> 00:45:57.670 align:start position:0% idea is it's<00:45:55.119> very<00:45:55.440> clear<00:45:56.240> because<00:45:56.800> without<00:45:57.280> using 00:45:57.670 --> 00:45:57.680 align:start position:0% it's very clear because without using 00:45:57.680 --> 00:45:58.150 align:start position:0% it's very clear because without using any 00:45:58.150 --> 00:45:58.160 align:start position:0% any 00:45:58.160 --> 00:46:01.270 align:start position:0% any tactile<00:45:58.720> sensor<00:45:59.680> so<00:45:59.920> i<00:46:00.319> can<00:46:00.720> detect<00:46:01.200> to 00:46:01.270 --> 00:46:01.280 align:start position:0% tactile sensor so i can detect to 00:46:01.280 --> 00:46:02.950 align:start position:0% tactile sensor so i can detect to control<00:46:01.680> the<00:46:01.839> point 00:46:02.950 --> 00:46:02.960 align:start position:0% control the point 00:46:02.960 --> 00:46:07.589 align:start position:0% control the point okay<00:46:04.000> so<00:46:04.319> the<00:46:05.119> you<00:46:05.359> can<00:46:05.680> save<00:46:06.079> the<00:46:06.240> money 00:46:07.589 --> 00:46:07.599 align:start position:0% okay so the you can save the money 00:46:07.599 --> 00:46:11.270 align:start position:0% okay so the you can save the money but<00:46:08.160> you<00:46:08.319> can<00:46:08.960> obtain<00:46:10.480> somehow 00:46:11.270 --> 00:46:11.280 align:start position:0% but you can obtain somehow 00:46:11.280 --> 00:46:14.309 align:start position:0% but you can obtain somehow the<00:46:11.440> effect<00:46:12.000> of<00:46:12.319> tactile<00:46:12.880> sensing 00:46:14.309 --> 00:46:14.319 align:start position:0% the effect of tactile sensing 00:46:14.319 --> 00:46:18.390 align:start position:0% the effect of tactile sensing okay<00:46:15.280> so<00:46:16.560> i<00:46:16.800> did<00:46:17.200> this<00:46:17.440> work 00:46:18.390 --> 00:46:18.400 align:start position:0% okay so i did this work 00:46:18.400 --> 00:46:21.670 align:start position:0% okay so i did this work during<00:46:18.800> my<00:46:19.040> stay<00:46:20.800> in<00:46:21.119> java 00:46:21.670 --> 00:46:21.680 align:start position:0% during my stay in java 00:46:21.680 --> 00:46:24.790 align:start position:0% during my stay in java that<00:46:21.920> is<00:46:22.160> of<00:46:22.319> my<00:46:22.640> postdoc<00:46:23.599> program 00:46:24.790 --> 00:46:24.800 align:start position:0% that is of my postdoc program 00:46:24.800 --> 00:46:27.829 align:start position:0% that is of my postdoc program so<00:46:25.040> i<00:46:25.200> really<00:46:25.599> enjoyed<00:46:26.640> but<00:46:26.960> i<00:46:26.960> i<00:46:27.359> was<00:46:27.520> really 00:46:27.829 --> 00:46:27.839 align:start position:0% so i really enjoyed but i i was really 00:46:27.839 --> 00:46:29.030 align:start position:0% so i really enjoyed but i i was really feel<00:46:28.160> happy 00:46:29.030 --> 00:46:29.040 align:start position:0% feel happy 00:46:29.040 --> 00:46:33.030 align:start position:0% feel happy when<00:46:29.280> i<00:46:29.680> found<00:46:30.079> that<00:46:30.319> kind<00:46:30.640> of<00:46:30.720> rule<00:46:31.920> and 00:46:33.030 --> 00:46:33.040 align:start position:0% when i found that kind of rule and 00:46:33.040 --> 00:46:36.230 align:start position:0% when i found that kind of rule and okay<00:46:33.440> this<00:46:33.680> is<00:46:34.000> also<00:46:34.319> what<00:46:34.480> i<00:46:34.720> published<00:46:35.280> as<00:46:35.599> a 00:46:36.230 --> 00:46:36.240 align:start position:0% okay this is also what i published as a 00:46:36.240 --> 00:46:40.790 align:start position:0% okay this is also what i published as a i<00:46:36.400> to<00:46:36.640> print<00:46:37.040> the<00:46:37.119> paper<00:46:37.520> transaction 00:46:40.790 --> 00:46:40.800 align:start position:0% 00:46:40.800 --> 00:46:44.150 align:start position:0% i<00:46:41.119> really<00:46:41.359> enjoy<00:46:41.680> example 00:46:44.150 --> 00:46:44.160 align:start position:0% i really enjoy example 00:46:44.160 --> 00:46:47.750 align:start position:0% i really enjoy example so<00:46:44.560> my<00:46:44.880> policy<00:46:45.599> is<00:46:47.040> is 00:46:47.750 --> 00:46:47.760 align:start position:0% so my policy is is 00:46:47.760 --> 00:46:51.750 align:start position:0% so my policy is is not<00:46:48.000> so<00:46:48.240> many<00:46:48.880> uh<00:46:49.520> sense<00:46:50.400> try<00:46:50.640> to<00:46:50.880> reduce<00:46:51.520> the 00:46:51.750 --> 00:46:51.760 align:start position:0% not so many uh sense try to reduce the 00:46:51.760 --> 00:46:53.910 align:start position:0% not so many uh sense try to reduce the sensor<00:46:52.240> as<00:46:52.400> much<00:46:52.720> as<00:46:52.880> possible 00:46:53.910 --> 00:46:53.920 align:start position:0% sensor as much as possible 00:46:53.920 --> 00:46:57.109 align:start position:0% sensor as much as possible but<00:46:54.319> we<00:46:54.640> keep<00:46:55.119> the<00:46:55.359> function<00:46:56.319> okay 00:46:57.109 --> 00:46:57.119 align:start position:0% but we keep the function okay 00:46:57.119 --> 00:47:00.550 align:start position:0% but we keep the function okay so<00:46:57.359> that<00:46:57.599> is<00:46:57.839> my<00:46:59.280> my<00:46:59.760> consistent 00:47:00.550 --> 00:47:00.560 align:start position:0% so that is my my consistent 00:47:00.560 --> 00:47:04.630 align:start position:0% so that is my my consistent policy<00:47:01.520> design<00:47:02.079> policy 00:47:04.630 --> 00:47:04.640 align:start position:0% 00:47:04.640 --> 00:47:07.589 align:start position:0% did<00:47:04.800> you<00:47:05.040> use<00:47:05.280> that<00:47:05.599> policy<00:47:06.480> in<00:47:06.880> other<00:47:07.119> ways<00:47:07.440> oh 00:47:07.589 --> 00:47:07.599 align:start position:0% did you use that policy in other ways oh 00:47:07.599 --> 00:47:08.230 align:start position:0% did you use that policy in other ways oh yes 00:47:08.230 --> 00:47:08.240 align:start position:0% yes 00:47:08.240 --> 00:47:11.589 align:start position:0% yes all's<00:47:09.280> love<00:47:10.079> all<00:47:10.480> my<00:47:10.880> work 00:47:11.589 --> 00:47:11.599 align:start position:0% all's love all my work 00:47:11.599 --> 00:47:15.190 align:start position:0% all's love all my work okay<00:47:12.079> as<00:47:12.400> simple<00:47:12.800> as<00:47:13.040> possible 00:47:15.190 --> 00:47:15.200 align:start position:0% okay as simple as possible 00:47:15.200 --> 00:47:17.589 align:start position:0% okay as simple as possible do<00:47:15.359> you<00:47:15.440> want<00:47:15.599> to<00:47:15.920> give<00:47:16.160> us<00:47:17.040> some<00:47:17.280> more 00:47:17.589 --> 00:47:17.599 align:start position:0% do you want to give us some more 00:47:17.599 --> 00:47:18.550 align:start position:0% do you want to give us some more examples 00:47:18.550 --> 00:47:18.560 align:start position:0% examples 00:47:18.560 --> 00:47:22.829 align:start position:0% examples of<00:47:19.280> robots<00:47:19.680> that<00:47:19.839> you<00:47:20.000> really<00:47:20.400> enjoy<00:47:21.280> making 00:47:22.829 --> 00:47:22.839 align:start position:0% of robots that you really enjoy making 00:47:22.839 --> 00:47:25.910 align:start position:0% of robots that you really enjoy making i<00:47:24.800> okay<00:47:25.359> i 00:47:25.910 --> 00:47:25.920 align:start position:0% i okay i 00:47:25.920 --> 00:47:29.430 align:start position:0% i okay i in<00:47:26.599> 1990<00:47:28.319> i 00:47:29.430 --> 00:47:29.440 align:start position:0% in 1990 i 00:47:29.440 --> 00:47:32.390 align:start position:0% in 1990 i okay<00:47:30.000> sensitive<00:47:30.960> tactile<00:47:31.520> sensing<00:47:32.000> okay<00:47:32.240> this 00:47:32.390 --> 00:47:32.400 align:start position:0% okay sensitive tactile sensing okay this 00:47:32.400 --> 00:47:35.990 align:start position:0% okay sensitive tactile sensing okay this one<00:47:32.559> is<00:47:32.720> also<00:47:32.960> the<00:47:33.040> kind<00:47:33.280> of<00:47:33.440> tactile<00:47:34.000> sensing 00:47:35.990 --> 00:47:36.000 align:start position:0% one is also the kind of tactile sensing 00:47:36.000 --> 00:47:40.710 align:start position:0% one is also the kind of tactile sensing and<00:47:36.400> at<00:47:36.559> that<00:47:36.960> time<00:47:37.520> is<00:47:38.960> just 00:47:40.710 --> 00:47:40.720 align:start position:0% and at that time is just 00:47:40.720 --> 00:47:44.549 align:start position:0% and at that time is just just<00:47:41.200> a<00:47:42.000> beam<00:47:42.880> being<00:47:43.359> in<00:47:43.520> the 00:47:44.549 --> 00:47:44.559 align:start position:0% just a beam being in the 00:47:44.559 --> 00:47:47.589 align:start position:0% just a beam being in the uh<00:47:46.640> elastic 00:47:47.589 --> 00:47:47.599 align:start position:0% uh elastic 00:47:47.599 --> 00:47:50.230 align:start position:0% uh elastic beam<00:47:48.480> such<00:47:48.800> as<00:47:49.119> the<00:47:49.280> piano<00:47:49.839> you<00:47:49.920> know<00:47:50.079> the 00:47:50.230 --> 00:47:50.240 align:start position:0% beam such as the piano you know the 00:47:50.240 --> 00:47:51.190 align:start position:0% beam such as the piano you know the piano 00:47:51.190 --> 00:47:51.200 align:start position:0% piano 00:47:51.200 --> 00:47:54.230 align:start position:0% piano uh<00:47:51.440> wire<00:47:51.839> p<00:47:52.079> in<00:47:52.319> if<00:47:52.559> you<00:47:52.720> look<00:47:52.960> at<00:47:53.280> the<00:47:53.839> inside 00:47:54.230 --> 00:47:54.240 align:start position:0% uh wire p in if you look at the inside 00:47:54.240 --> 00:47:55.349 align:start position:0% uh wire p in if you look at the inside of<00:47:54.400> piano<00:47:54.880> there<00:47:55.119> is 00:47:55.349 --> 00:47:55.359 align:start position:0% of piano there is 00:47:55.359 --> 00:47:59.349 align:start position:0% of piano there is many<00:47:55.760> wire<00:47:57.680> and<00:47:58.319> this<00:47:58.640> wires 00:47:59.349 --> 00:47:59.359 align:start position:0% many wire and this wires 00:47:59.359 --> 00:48:02.549 align:start position:0% many wire and this wires is<00:47:59.680> just<00:48:00.960> this<00:48:01.200> range<00:48:01.520> of<00:48:01.599> the<00:48:01.760> wire<00:48:02.240> maybe 00:48:02.549 --> 00:48:02.559 align:start position:0% is just this range of the wire maybe 00:48:02.559 --> 00:48:03.510 align:start position:0% is just this range of the wire maybe this<00:48:02.800> rings 00:48:03.510 --> 00:48:03.520 align:start position:0% this rings 00:48:03.520 --> 00:48:06.950 align:start position:0% this rings and<00:48:03.839> no<00:48:04.160> tactile<00:48:04.720> sensing<00:48:05.359> no<00:48:05.680> element 00:48:06.950 --> 00:48:06.960 align:start position:0% and no tactile sensing no element 00:48:06.960 --> 00:48:10.069 align:start position:0% and no tactile sensing no element but<00:48:09.119> for<00:48:09.280> example 00:48:10.069 --> 00:48:10.079 align:start position:0% but for example 00:48:10.079 --> 00:48:14.470 align:start position:0% but for example the<00:48:10.319> cockroach<00:48:11.920> there<00:48:12.160> is<00:48:12.480> antenna 00:48:14.470 --> 00:48:14.480 align:start position:0% the cockroach there is antenna 00:48:14.480 --> 00:48:18.230 align:start position:0% the cockroach there is antenna and<00:48:14.880> then<00:48:16.319> they<00:48:16.559> can<00:48:16.960> detect<00:48:17.520> the<00:48:17.680> contact 00:48:18.230 --> 00:48:18.240 align:start position:0% and then they can detect the contact 00:48:18.240 --> 00:48:19.750 align:start position:0% and then they can detect the contact point<00:48:18.640> very<00:48:18.960> quickly 00:48:19.750 --> 00:48:19.760 align:start position:0% point very quickly 00:48:19.760 --> 00:48:22.069 align:start position:0% point very quickly and<00:48:20.000> they're<00:48:20.319> always<00:48:20.720> moving<00:48:21.119> the<00:48:21.280> antenna 00:48:22.069 --> 00:48:22.079 align:start position:0% and they're always moving the antenna 00:48:22.079 --> 00:48:23.670 align:start position:0% and they're always moving the antenna like<00:48:22.319> like<00:48:22.559> this 00:48:23.670 --> 00:48:23.680 align:start position:0% like like this 00:48:23.680 --> 00:48:27.030 align:start position:0% like like this so<00:48:23.920> the<00:48:24.240> i<00:48:24.400> think<00:48:24.720> the<00:48:25.040> active<00:48:25.599> motion<00:48:26.640> just 00:48:27.030 --> 00:48:27.040 align:start position:0% so the i think the active motion just 00:48:27.040 --> 00:48:30.230 align:start position:0% so the i think the active motion just by<00:48:27.280> giving<00:48:27.680> the<00:48:27.920> active<00:48:28.400> motion<00:48:29.599> uh 00:48:30.230 --> 00:48:30.240 align:start position:0% by giving the active motion uh 00:48:30.240 --> 00:48:33.589 align:start position:0% by giving the active motion uh even<00:48:30.640> though<00:48:31.920> there<00:48:32.160> is<00:48:32.319> no<00:48:32.640> tactile<00:48:33.119> sensing 00:48:33.589 --> 00:48:33.599 align:start position:0% even though there is no tactile sensing 00:48:33.599 --> 00:48:34.630 align:start position:0% even though there is no tactile sensing element 00:48:34.630 --> 00:48:34.640 align:start position:0% element 00:48:34.640 --> 00:48:38.549 align:start position:0% element only<00:48:35.760> actually<00:48:36.240> the<00:48:36.720> cockroach 00:48:38.549 --> 00:48:38.559 align:start position:0% only actually the cockroach 00:48:38.559 --> 00:48:42.710 align:start position:0% only actually the cockroach the<00:48:38.720> antenna<00:48:40.800> sensing<00:48:41.359> element<00:48:41.839> distributed 00:48:42.710 --> 00:48:42.720 align:start position:0% the antenna sensing element distributed 00:48:42.720 --> 00:48:43.750 align:start position:0% the antenna sensing element distributed all<00:48:43.040> over<00:48:43.359> the 00:48:43.750 --> 00:48:43.760 align:start position:0% all over the 00:48:43.760 --> 00:48:46.870 align:start position:0% all over the antenna<00:48:45.440> but<00:48:46.319> asked 00:48:46.870 --> 00:48:46.880 align:start position:0% antenna but asked 00:48:46.880 --> 00:48:49.910 align:start position:0% antenna but asked my<00:48:47.119> student<00:48:47.760> is<00:48:48.480> cut<00:48:48.960> the<00:48:49.200> antenna 00:48:49.910 --> 00:48:49.920 align:start position:0% my student is cut the antenna 00:48:49.920 --> 00:48:54.230 align:start position:0% my student is cut the antenna of<00:48:50.079> the<00:48:50.240> cockroach<00:48:51.520> and<00:48:51.920> then<00:48:52.240> after<00:48:52.640> that 00:48:54.230 --> 00:48:54.240 align:start position:0% of the cockroach and then after that 00:48:54.240 --> 00:48:57.510 align:start position:0% of the cockroach and then after that we<00:48:54.559> connect<00:48:55.440> the<00:48:55.920> cutted<00:48:56.800> antenna 00:48:57.510 --> 00:48:57.520 align:start position:0% we connect the cutted antenna 00:48:57.520 --> 00:49:00.630 align:start position:0% we connect the cutted antenna by<00:48:57.920> glue<00:48:59.760> yeah<00:49:00.240> then 00:49:00.630 --> 00:49:00.640 align:start position:0% by glue yeah then 00:49:00.640 --> 00:49:04.069 align:start position:0% by glue yeah then the<00:49:01.200> nav<00:49:01.599> system<00:49:02.240> already<00:49:03.599> done 00:49:04.069 --> 00:49:04.079 align:start position:0% the nav system already done 00:49:04.079 --> 00:49:07.349 align:start position:0% the nav system already done already<00:49:06.480> cut<00:49:06.800> it 00:49:07.349 --> 00:49:07.359 align:start position:0% already cut it 00:49:07.359 --> 00:49:11.109 align:start position:0% already cut it so<00:49:07.599> the<00:49:08.000> nav<00:49:08.319> system<00:49:08.720> doesn't<00:49:09.119> work<00:49:09.599> anymore 00:49:11.109 --> 00:49:11.119 align:start position:0% so the nav system doesn't work anymore 00:49:11.119 --> 00:49:14.630 align:start position:0% so the nav system doesn't work anymore but<00:49:11.920> the<00:49:12.800> the<00:49:13.119> base<00:49:13.599> point 00:49:14.630 --> 00:49:14.640 align:start position:0% but the the base point 00:49:14.640 --> 00:49:17.349 align:start position:0% but the the base point there<00:49:14.800> are<00:49:14.960> many<00:49:15.280> other<00:49:15.520> sensors<00:49:16.160> maybe<00:49:17.119> some 00:49:17.349 --> 00:49:17.359 align:start position:0% there are many other sensors maybe some 00:49:17.359 --> 00:49:20.950 align:start position:0% there are many other sensors maybe some sensor<00:49:17.760> can<00:49:18.000> feel<00:49:18.400> the<00:49:18.559> sensation<00:49:19.280> of<00:49:19.520> force 00:49:20.950 --> 00:49:20.960 align:start position:0% sensor can feel the sensation of force 00:49:20.960 --> 00:49:24.470 align:start position:0% sensor can feel the sensation of force then<00:49:21.440> okay<00:49:22.240> then<00:49:22.640> artificial 00:49:24.470 --> 00:49:24.480 align:start position:0% then okay then artificial 00:49:24.480 --> 00:49:27.589 align:start position:0% then okay then artificial antenna<00:49:25.599> if<00:49:25.920> some<00:49:26.240> object<00:49:26.800> makes<00:49:27.119> contact 00:49:27.589 --> 00:49:27.599 align:start position:0% antenna if some object makes contact 00:49:27.599 --> 00:49:29.109 align:start position:0% antenna if some object makes contact with<00:49:27.760> the<00:49:28.000> thick<00:49:28.319> part 00:49:29.109 --> 00:49:29.119 align:start position:0% with the thick part 00:49:29.119 --> 00:49:32.630 align:start position:0% with the thick part but<00:49:29.359> still<00:49:30.240> the<00:49:30.480> force<00:49:31.119> is<00:49:31.440> transmitted 00:49:32.630 --> 00:49:32.640 align:start position:0% but still the force is transmitted 00:49:32.640 --> 00:49:35.430 align:start position:0% but still the force is transmitted through<00:49:33.040> the<00:49:33.280> connecting<00:49:33.920> point<00:49:34.480> to<00:49:34.720> the<00:49:35.200> the 00:49:35.430 --> 00:49:35.440 align:start position:0% through the connecting point to the the 00:49:35.440 --> 00:49:36.549 align:start position:0% through the connecting point to the the base 00:49:36.549 --> 00:49:36.559 align:start position:0% base 00:49:36.559 --> 00:49:39.589 align:start position:0% base then<00:49:37.440> okay<00:49:38.079> the<00:49:38.319> cockroach 00:49:39.589 --> 00:49:39.599 align:start position:0% then okay the cockroach 00:49:39.599 --> 00:49:42.950 align:start position:0% then okay the cockroach behavior<00:49:40.640> is<00:49:41.520> not<00:49:42.160> right<00:49:42.559> the 00:49:42.950 --> 00:49:42.960 align:start position:0% behavior is not right the 00:49:42.960 --> 00:49:47.270 align:start position:0% behavior is not right the original<00:49:44.559> one<00:49:45.040> but<00:49:45.920> it<00:49:46.079> can't<00:49:46.319> detect 00:49:47.270 --> 00:49:47.280 align:start position:0% original one but it can't detect 00:49:47.280 --> 00:49:51.510 align:start position:0% original one but it can't detect some<00:49:47.680> object<00:49:49.520> just<00:49:50.240> in<00:49:50.319> this<00:49:50.559> case<00:49:50.880> it's<00:49:51.119> just 00:49:51.510 --> 00:49:51.520 align:start position:0% some object just in this case it's just 00:49:51.520 --> 00:49:55.190 align:start position:0% some object just in this case it's just force<00:49:51.920> is<00:49:52.160> passing<00:49:52.559> through<00:49:53.920> then<00:49:54.480> okay<00:49:54.880> my 00:49:55.190 --> 00:49:55.200 align:start position:0% force is passing through then okay my 00:49:55.200 --> 00:49:59.349 align:start position:0% force is passing through then okay my idea<00:49:55.760> is<00:49:56.079> just<00:49:56.400> like<00:49:56.720> that<00:49:57.680> is<00:49:58.079> the 00:49:59.349 --> 00:49:59.359 align:start position:0% idea is just like that is the 00:49:59.359 --> 00:50:03.109 align:start position:0% idea is just like that is the such<00:49:59.680> a<00:49:59.920> piano<00:50:00.319> wire<00:50:00.960> is<00:50:01.280> somehow<00:50:01.760> flexible 00:50:03.109 --> 00:50:03.119 align:start position:0% such a piano wire is somehow flexible 00:50:03.119 --> 00:50:07.030 align:start position:0% such a piano wire is somehow flexible and<00:50:03.359> then<00:50:03.839> the<00:50:04.240> the<00:50:04.480> base<00:50:05.040> is<00:50:05.520> one<00:50:05.839> actuator 00:50:07.030 --> 00:50:07.040 align:start position:0% and then the the base is one actuator 00:50:07.040 --> 00:50:10.150 align:start position:0% and then the the base is one actuator and<00:50:07.359> the<00:50:07.680> one<00:50:09.359> force<00:50:09.599> sensor 00:50:10.150 --> 00:50:10.160 align:start position:0% and the one force sensor 00:50:10.160 --> 00:50:13.829 align:start position:0% and the one force sensor or<00:50:10.319> top<00:50:10.640> sensor<00:50:11.760> and<00:50:12.079> then<00:50:12.400> it<00:50:12.559> makes<00:50:12.960> contact 00:50:13.829 --> 00:50:13.839 align:start position:0% or top sensor and then it makes contact 00:50:13.839 --> 00:50:15.990 align:start position:0% or top sensor and then it makes contact contact<00:50:14.319> can<00:50:14.480> be<00:50:14.640> detected<00:50:15.200> by<00:50:15.440> the<00:50:15.760> torque 00:50:15.990 --> 00:50:16.000 align:start position:0% contact can be detected by the torque 00:50:16.000 --> 00:50:17.030 align:start position:0% contact can be detected by the torque sensor 00:50:17.030 --> 00:50:17.040 align:start position:0% sensor 00:50:17.040 --> 00:50:20.630 align:start position:0% sensor and<00:50:17.280> then<00:50:17.760> the<00:50:18.160> additional<00:50:19.119> small 00:50:20.630 --> 00:50:20.640 align:start position:0% and then the additional small 00:50:20.640 --> 00:50:24.549 align:start position:0% and then the additional small displacement<00:50:21.359> is<00:50:21.520> given<00:50:22.400> to<00:50:22.640> the<00:50:23.200> wire 00:50:24.549 --> 00:50:24.559 align:start position:0% displacement is given to the wire 00:50:24.559 --> 00:50:27.910 align:start position:0% displacement is given to the wire piano<00:50:24.960> y<00:50:26.000> then<00:50:26.319> the<00:50:26.480> torque<00:50:26.800> sensor<00:50:27.200> increase 00:50:27.910 --> 00:50:27.920 align:start position:0% piano y then the torque sensor increase 00:50:27.920 --> 00:50:30.549 align:start position:0% piano y then the torque sensor increase the<00:50:28.079> output<00:50:28.480> increase<00:50:29.280> so<00:50:29.520> this<00:50:29.760> principle<00:50:30.319> is 00:50:30.549 --> 00:50:30.559 align:start position:0% the output increase so this principle is 00:50:30.559 --> 00:50:31.829 align:start position:0% the output increase so this principle is really<00:50:30.880> simple 00:50:31.829 --> 00:50:31.839 align:start position:0% really simple 00:50:31.839 --> 00:50:35.589 align:start position:0% really simple for<00:50:32.000> example<00:50:33.040> um<00:50:33.599> this<00:50:33.839> is<00:50:34.079> rigid<00:50:34.800> okay 00:50:35.589 --> 00:50:35.599 align:start position:0% for example um this is rigid okay 00:50:35.599 --> 00:50:37.990 align:start position:0% for example um this is rigid okay in<00:50:35.760> this<00:50:36.000> case<00:50:36.559> it<00:50:36.800> makes<00:50:37.119> contact<00:50:37.680> if<00:50:37.839> the 00:50:37.990 --> 00:50:38.000 align:start position:0% in this case it makes contact if the 00:50:38.000 --> 00:50:39.270 align:start position:0% in this case it makes contact if the object<00:50:38.319> is<00:50:38.400> rigid 00:50:39.270 --> 00:50:39.280 align:start position:0% object is rigid 00:50:39.280 --> 00:50:42.390 align:start position:0% object is rigid you<00:50:39.520> cannot<00:50:40.559> you<00:50:40.800> cannot<00:50:42.079> give 00:50:42.390 --> 00:50:42.400 align:start position:0% you cannot you cannot give 00:50:42.400 --> 00:50:46.549 align:start position:0% you cannot you cannot give any<00:50:42.640> further<00:50:43.040> motion<00:50:44.079> but<00:50:44.480> if<00:50:44.720> this<00:50:44.960> one<00:50:45.359> is 00:50:46.549 --> 00:50:46.559 align:start position:0% any further motion but if this one is 00:50:46.559 --> 00:50:49.829 align:start position:0% any further motion but if this one is for<00:50:46.800> example<00:50:47.680> fish<00:50:48.000> rod<00:50:48.880> suppose<00:50:49.440> fischer 00:50:49.829 --> 00:50:49.839 align:start position:0% for example fish rod suppose fischer 00:50:49.839 --> 00:50:50.390 align:start position:0% for example fish rod suppose fischer fischer 00:50:50.390 --> 00:50:50.400 align:start position:0% fischer 00:50:50.400 --> 00:50:53.990 align:start position:0% fischer is<00:50:50.559> very<00:50:52.000> that<00:50:52.240> is<00:50:52.400> elastic<00:50:53.119> one 00:50:53.990 --> 00:50:54.000 align:start position:0% is very that is elastic one 00:50:54.000 --> 00:50:58.150 align:start position:0% is very that is elastic one then<00:50:54.400> that<00:50:54.800> part<00:50:56.319> if<00:50:56.559> the 00:50:58.150 --> 00:50:58.160 align:start position:0% then that part if the 00:50:58.160 --> 00:50:59.910 align:start position:0% then that part if the the<00:50:58.480> load<00:50:58.800> makes<00:50:59.119> contact<00:50:59.520> with<00:50:59.760> the 00:50:59.910 --> 00:50:59.920 align:start position:0% the load makes contact with the 00:50:59.920 --> 00:51:02.549 align:start position:0% the load makes contact with the environment<00:51:00.880> so<00:51:01.119> you<00:51:01.359> can 00:51:02.549 --> 00:51:02.559 align:start position:0% environment so you can 00:51:02.559 --> 00:51:05.349 align:start position:0% environment so you can give<00:51:02.960> the<00:51:03.200> further<00:51:03.760> further<00:51:04.160> displacement<00:51:05.040> at 00:51:05.349 --> 00:51:05.359 align:start position:0% give the further further displacement at 00:51:05.359 --> 00:51:06.630 align:start position:0% give the further further displacement at the<00:51:05.680> base 00:51:06.630 --> 00:51:06.640 align:start position:0% the base 00:51:06.640 --> 00:51:09.270 align:start position:0% the base this<00:51:06.960> point<00:51:07.280> doesn't<00:51:07.599> move<00:51:08.160> but<00:51:08.640> you<00:51:08.880> can<00:51:09.040> give 00:51:09.270 --> 00:51:09.280 align:start position:0% this point doesn't move but you can give 00:51:09.280 --> 00:51:11.510 align:start position:0% this point doesn't move but you can give the<00:51:09.440> further<00:51:09.839> displacement 00:51:11.510 --> 00:51:11.520 align:start position:0% the further displacement 00:51:11.520 --> 00:51:14.710 align:start position:0% the further displacement then<00:51:12.160> idea<00:51:12.640> is<00:51:12.880> very<00:51:13.200> simple<00:51:13.920> for<00:51:14.160> example 00:51:14.710 --> 00:51:14.720 align:start position:0% then idea is very simple for example 00:51:14.720 --> 00:51:15.270 align:start position:0% then idea is very simple for example this<00:51:14.960> is 00:51:15.270 --> 00:51:15.280 align:start position:0% this is 00:51:15.280 --> 00:51:19.109 align:start position:0% this is a<00:51:16.079> fishing<00:51:16.480> rod<00:51:17.680> if<00:51:17.920> the<00:51:18.079> tip<00:51:18.400> part<00:51:18.800> makes 00:51:19.109 --> 00:51:19.119 align:start position:0% a fishing rod if the tip part makes 00:51:19.119 --> 00:51:20.390 align:start position:0% a fishing rod if the tip part makes contact<00:51:19.680> with<00:51:20.000> the 00:51:20.390 --> 00:51:20.400 align:start position:0% contact with the 00:51:20.400 --> 00:51:24.230 align:start position:0% contact with the object<00:51:21.359> okay<00:51:22.240> just<00:51:22.559> for<00:51:22.800> example 00:51:24.230 --> 00:51:24.240 align:start position:0% object okay just for example 00:51:24.240 --> 00:51:27.109 align:start position:0% object okay just for example 10<00:51:24.559> degrees<00:51:25.280> additional<00:51:25.920> displacement<00:51:26.960> to 00:51:27.109 --> 00:51:27.119 align:start position:0% 10 degrees additional displacement to 00:51:27.119 --> 00:51:28.950 align:start position:0% 10 degrees additional displacement to the<00:51:27.359> base 00:51:28.950 --> 00:51:28.960 align:start position:0% the base 00:51:28.960 --> 00:51:32.230 align:start position:0% the base you<00:51:29.200> feel<00:51:29.520> nearly<00:51:29.920> nothing<00:51:31.200> but 00:51:32.230 --> 00:51:32.240 align:start position:0% you feel nearly nothing but 00:51:32.240 --> 00:51:36.150 align:start position:0% you feel nearly nothing but this<00:51:32.640> point<00:51:33.440> if<00:51:33.599> you<00:51:33.760> give<00:51:34.160> 10<00:51:34.640> 10<00:51:34.880> degrees 00:51:36.150 --> 00:51:36.160 align:start position:0% this point if you give 10 10 degrees 00:51:36.160 --> 00:51:39.030 align:start position:0% this point if you give 10 10 degrees additional<00:51:36.880> displacement<00:51:38.079> you<00:51:38.319> feel<00:51:38.640> a<00:51:38.720> big 00:51:39.030 --> 00:51:39.040 align:start position:0% additional displacement you feel a big 00:51:39.040 --> 00:51:39.910 align:start position:0% additional displacement you feel a big force 00:51:39.910 --> 00:51:39.920 align:start position:0% force 00:51:39.920 --> 00:51:43.190 align:start position:0% force okay<00:51:40.480> this<00:51:40.720> is<00:51:40.960> ideal<00:51:41.839> so<00:51:42.240> if<00:51:42.480> the<00:51:42.640> contact 00:51:43.190 --> 00:51:43.200 align:start position:0% okay this is ideal so if the contact 00:51:43.200 --> 00:51:46.309 align:start position:0% okay this is ideal so if the contact point<00:51:43.760> is<00:51:44.079> closed<00:51:44.480> the<00:51:44.720> tip<00:51:45.599> then<00:51:46.000> you 00:51:46.309 --> 00:51:46.319 align:start position:0% point is closed the tip then you 00:51:46.319 --> 00:51:49.910 align:start position:0% point is closed the tip then you feel<00:51:46.640> very<00:51:47.200> confined<00:51:48.559> if<00:51:48.880> very<00:51:49.119> close<00:51:49.440> to<00:51:49.599> your 00:51:49.910 --> 00:51:49.920 align:start position:0% feel very confined if very close to your 00:51:49.920 --> 00:51:50.630 align:start position:0% feel very confined if very close to your hand 00:51:50.630 --> 00:51:50.640 align:start position:0% hand 00:51:50.640 --> 00:51:54.309 align:start position:0% hand you<00:51:50.880> feel<00:51:51.280> as<00:51:51.680> very<00:51:52.000> stiff<00:51:52.880> that<00:51:53.119> means<00:51:53.520> the 00:51:54.309 --> 00:51:54.319 align:start position:0% you feel as very stiff that means the 00:51:54.319 --> 00:51:57.829 align:start position:0% you feel as very stiff that means the the<00:51:55.200> compliance<00:51:56.480> you<00:51:56.640> can<00:51:56.880> feel 00:51:57.829 --> 00:51:57.839 align:start position:0% the compliance you can feel 00:51:57.839 --> 00:52:01.430 align:start position:0% the compliance you can feel as<00:51:58.400> your<00:51:58.720> hand<00:51:59.920> is<00:52:00.240> the<00:52:00.480> function<00:52:01.040> of<00:52:01.280> the 00:52:01.430 --> 00:52:01.440 align:start position:0% as your hand is the function of the 00:52:01.440 --> 00:52:02.549 align:start position:0% as your hand is the function of the contact 00:52:02.549 --> 00:52:02.559 align:start position:0% contact 00:52:02.559 --> 00:52:05.349 align:start position:0% contact contact<00:52:03.200> distance<00:52:04.000> so<00:52:04.240> idea<00:52:04.559> is<00:52:04.880> really 00:52:05.349 --> 00:52:05.359 align:start position:0% contact distance so idea is really 00:52:05.359 --> 00:52:06.470 align:start position:0% contact distance so idea is really simple 00:52:06.470 --> 00:52:06.480 align:start position:0% simple 00:52:06.480 --> 00:52:10.470 align:start position:0% simple so<00:52:06.720> the<00:52:07.760> uh<00:52:08.319> i<00:52:08.559> really<00:52:08.960> enjoyed<00:52:09.520> to<00:52:09.760> find<00:52:10.160> this 00:52:10.470 --> 00:52:10.480 align:start position:0% so the uh i really enjoyed to find this 00:52:10.480 --> 00:52:11.510 align:start position:0% so the uh i really enjoyed to find this rule 00:52:11.510 --> 00:52:11.520 align:start position:0% rule 00:52:11.520 --> 00:52:15.109 align:start position:0% rule and<00:52:12.640> of<00:52:12.800> course<00:52:13.119> i<00:52:13.359> wrote<00:52:13.760> this<00:52:14.160> this<00:52:14.480> idea<00:52:14.800> in 00:52:15.109 --> 00:52:15.119 align:start position:0% and of course i wrote this this idea in 00:52:15.119 --> 00:52:19.510 align:start position:0% and of course i wrote this this idea in the<00:52:15.680> item<00:52:16.480> paper<00:52:17.680> and 00:52:19.510 --> 00:52:19.520 align:start position:0% the item paper and 00:52:19.520 --> 00:52:22.630 align:start position:0% the item paper and i'm<00:52:20.400> very<00:52:21.359> happy<00:52:21.839> when 00:52:22.630 --> 00:52:22.640 align:start position:0% i'm very happy when 00:52:22.640 --> 00:52:25.670 align:start position:0% i'm very happy when the<00:52:22.880> paper<00:52:23.359> was<00:52:23.680> referred<00:52:24.400> in<00:52:24.720> science 00:52:25.670 --> 00:52:25.680 align:start position:0% the paper was referred in science 00:52:25.680 --> 00:52:29.510 align:start position:0% the paper was referred in science i<00:52:25.920> think<00:52:26.160> it's<00:52:26.319> not<00:52:26.559> science<00:52:26.960> nature<00:52:28.319> so 00:52:29.510 --> 00:52:29.520 align:start position:0% i think it's not science nature so 00:52:29.520 --> 00:52:33.270 align:start position:0% i think it's not science nature so since<00:52:29.920> that<00:52:30.240> time<00:52:30.960> many<00:52:31.440> people<00:52:32.400> referred<00:52:33.040> my 00:52:33.270 --> 00:52:33.280 align:start position:0% since that time many people referred my 00:52:33.280 --> 00:52:34.870 align:start position:0% since that time many people referred my paper 00:52:34.870 --> 00:52:34.880 align:start position:0% paper 00:52:34.880 --> 00:52:38.710 align:start position:0% paper so<00:52:35.440> actually<00:52:35.839> at<00:52:35.920> this<00:52:36.800> very<00:52:37.040> happy<00:52:37.440> moment 00:52:38.710 --> 00:52:38.720 align:start position:0% so actually at this very happy moment 00:52:38.720 --> 00:52:42.230 align:start position:0% so actually at this very happy moment to<00:52:38.960> find<00:52:39.440> the<00:52:39.760> paper<00:52:40.240> is<00:52:40.880> not<00:52:41.119> appear<00:52:41.440> itself 00:52:42.230 --> 00:52:42.240 align:start position:0% to find the paper is not appear itself 00:52:42.240 --> 00:52:45.270 align:start position:0% to find the paper is not appear itself is<00:52:42.480> referring<00:52:43.200> nature 00:52:45.270 --> 00:52:45.280 align:start position:0% is referring nature 00:52:45.280 --> 00:52:48.470 align:start position:0% is referring nature okay<00:52:45.599> and<00:52:45.839> it<00:52:45.920> came<00:52:46.160> out<00:52:46.319> of<00:52:46.960> especially<00:52:47.359> that 00:52:48.470 --> 00:52:48.480 align:start position:0% okay and it came out of especially that 00:52:48.480 --> 00:52:50.309 align:start position:0% okay and it came out of especially that that<00:52:48.720> observation<00:52:49.440> of<00:52:49.520> the<00:52:49.680> animals<00:52:50.160> and 00:52:50.309 --> 00:52:50.319 align:start position:0% that observation of the animals and 00:52:50.319 --> 00:52:51.670 align:start position:0% that observation of the animals and insects<00:52:50.960> and 00:52:51.670 --> 00:52:51.680 align:start position:0% insects and 00:52:51.680 --> 00:52:55.190 align:start position:0% insects and you<00:52:51.760> know<00:52:52.480> yes<00:52:52.800> very<00:52:52.960> nice<00:52:53.680> then<00:52:54.240> at<00:52:54.480> that<00:52:54.800> time 00:52:55.190 --> 00:52:55.200 align:start position:0% you know yes very nice then at that time 00:52:55.200 --> 00:52:56.790 align:start position:0% you know yes very nice then at that time i<00:52:55.440> learned<00:52:55.839> that 00:52:56.790 --> 00:52:56.800 align:start position:0% i learned that 00:52:56.800 --> 00:53:01.510 align:start position:0% i learned that okay<00:52:57.200> this<00:52:57.440> sensing<00:52:58.000> system<00:52:58.640> is<00:52:59.040> actually 00:53:01.510 --> 00:53:01.520 align:start position:0% okay this sensing system is actually 00:53:01.520 --> 00:53:05.030 align:start position:0% okay this sensing system is actually initially<00:53:02.079> i<00:53:02.319> observe<00:53:03.119> the<00:53:03.359> cockroach<00:53:04.400> i<00:53:04.640> i 00:53:05.030 --> 00:53:05.040 align:start position:0% initially i observe the cockroach i i 00:53:05.040 --> 00:53:08.630 align:start position:0% initially i observe the cockroach i i have<00:53:05.280> a<00:53:05.440> video<00:53:05.839> if<00:53:06.000> you<00:53:06.079> want<00:53:06.400> i<00:53:06.480> can<00:53:06.720> show<00:53:06.880> you 00:53:08.630 --> 00:53:08.640 align:start position:0% have a video if you want i can show you 00:53:08.640 --> 00:53:12.829 align:start position:0% have a video if you want i can show you but 00:53:12.829 --> 00:53:12.839 align:start position:0% 00:53:12.839 --> 00:53:16.390 align:start position:0% nowadays<00:53:13.119> is<00:53:13.520> a<00:53:14.400> biologically<00:53:15.280> inspired<00:53:15.920> law 00:53:16.390 --> 00:53:16.400 align:start position:0% nowadays is a biologically inspired law 00:53:16.400 --> 00:53:19.510 align:start position:0% nowadays is a biologically inspired law this<00:53:16.800> keyword<00:53:17.359> is<00:53:17.520> very<00:53:17.839> popular<00:53:18.880> but<00:53:19.200> in<00:53:19.280> my 00:53:19.510 --> 00:53:19.520 align:start position:0% this keyword is very popular but in my 00:53:19.520 --> 00:53:20.549 align:start position:0% this keyword is very popular but in my opinion 00:53:20.549 --> 00:53:20.559 align:start position:0% opinion 00:53:20.559 --> 00:53:23.829 align:start position:0% opinion so<00:53:21.119> we<00:53:21.359> have<00:53:21.520> to<00:53:21.680> be<00:53:21.839> very<00:53:22.240> careful<00:53:23.280> because 00:53:23.829 --> 00:53:23.839 align:start position:0% so we have to be very careful because 00:53:23.839 --> 00:53:25.349 align:start position:0% so we have to be very careful because the 00:53:25.349 --> 00:53:25.359 align:start position:0% the 00:53:25.359 --> 00:53:28.870 align:start position:0% the robot<00:53:26.640> and 00:53:28.870 --> 00:53:28.880 align:start position:0% robot and 00:53:28.880 --> 00:53:32.309 align:start position:0% robot and some<00:53:29.200> animal<00:53:29.920> including<00:53:30.400> human<00:53:31.599> is 00:53:32.309 --> 00:53:32.319 align:start position:0% some animal including human is 00:53:32.319 --> 00:53:35.430 align:start position:0% some animal including human is okay<00:53:33.280> because<00:53:33.920> animal<00:53:34.559> human 00:53:35.430 --> 00:53:35.440 align:start position:0% okay because animal human 00:53:35.440 --> 00:53:38.710 align:start position:0% okay because animal human has<00:53:35.920> a<00:53:36.160> long<00:53:36.559> long<00:53:36.960> history<00:53:37.920> so<00:53:38.160> only<00:53:38.559> the 00:53:38.710 --> 00:53:38.720 align:start position:0% has a long long history so only the 00:53:38.720 --> 00:53:40.230 align:start position:0% has a long long history so only the strongest<00:53:39.440> one 00:53:40.230 --> 00:53:40.240 align:start position:0% strongest one 00:53:40.240 --> 00:53:43.270 align:start position:0% strongest one can<00:53:40.559> arrive<00:53:41.599> continuously<00:53:42.880> so 00:53:43.270 --> 00:53:43.280 align:start position:0% can arrive continuously so 00:53:43.280 --> 00:53:46.470 align:start position:0% can arrive continuously so therefore<00:53:44.640> they<00:53:45.200> should<00:53:45.520> include 00:53:46.470 --> 00:53:46.480 align:start position:0% therefore they should include 00:53:46.480 --> 00:53:52.069 align:start position:0% therefore they should include some<00:53:47.760> some<00:53:49.359> very<00:53:49.760> sophisticated<00:53:50.720> function 00:53:52.069 --> 00:53:52.079 align:start position:0% some some very sophisticated function 00:53:52.079 --> 00:53:55.349 align:start position:0% some some very sophisticated function okay<00:53:52.880> so<00:53:53.200> therefore<00:53:53.920> the<00:53:54.240> robot<00:53:54.960> should 00:53:55.349 --> 00:53:55.359 align:start position:0% okay so therefore the robot should 00:53:55.359 --> 00:53:59.030 align:start position:0% okay so therefore the robot should learn<00:53:55.920> a<00:53:56.160> lot<00:53:57.119> should<00:53:57.680> should<00:53:58.000> imitate 00:53:59.030 --> 00:53:59.040 align:start position:0% learn a lot should should imitate 00:53:59.040 --> 00:54:03.030 align:start position:0% learn a lot should should imitate the<00:53:59.760> some<00:54:00.079> animal<00:54:01.040> some<00:54:01.440> human<00:54:01.839> behavior 00:54:03.030 --> 00:54:03.040 align:start position:0% the some animal some human behavior 00:54:03.040 --> 00:54:06.790 align:start position:0% the some animal some human behavior okay<00:54:03.599> idea<00:54:04.240> is<00:54:04.800> is<00:54:05.040> beautiful<00:54:05.680> idea<00:54:06.240> it<00:54:06.480> looks 00:54:06.790 --> 00:54:06.800 align:start position:0% okay idea is is beautiful idea it looks 00:54:06.800 --> 00:54:07.109 align:start position:0% okay idea is is beautiful idea it looks like 00:54:07.109 --> 00:54:07.119 align:start position:0% like 00:54:07.119 --> 00:54:11.349 align:start position:0% like very<00:54:07.520> fine<00:54:08.559> but<00:54:08.960> we<00:54:09.200> have<00:54:09.440> to<00:54:09.599> be<00:54:09.839> very<00:54:10.160> careful 00:54:11.349 --> 00:54:11.359 align:start position:0% very fine but we have to be very careful 00:54:11.359 --> 00:54:14.710 align:start position:0% very fine but we have to be very careful because<00:54:11.920> the<00:54:12.720> uh 00:54:14.710 --> 00:54:14.720 align:start position:0% because the uh 00:54:14.720 --> 00:54:18.309 align:start position:0% because the uh because<00:54:15.280> the<00:54:16.319> if<00:54:16.480> you<00:54:16.960> peel 00:54:18.309 --> 00:54:18.319 align:start position:0% because the if you peel 00:54:18.319 --> 00:54:21.750 align:start position:0% because the if you peel the<00:54:19.040> for<00:54:19.200> example<00:54:19.839> human<00:54:20.480> robot 00:54:21.750 --> 00:54:21.760 align:start position:0% the for example human robot 00:54:21.760 --> 00:54:24.630 align:start position:0% the for example human robot and<00:54:22.000> the<00:54:22.240> shape<00:54:22.720> looks<00:54:22.960> like<00:54:23.280> very<00:54:23.599> shame<00:54:24.319> but 00:54:24.630 --> 00:54:24.640 align:start position:0% and the shape looks like very shame but 00:54:24.640 --> 00:54:25.109 align:start position:0% and the shape looks like very shame but once 00:54:25.109 --> 00:54:25.119 align:start position:0% once 00:54:25.119 --> 00:54:28.230 align:start position:0% once we<00:54:25.440> opened<00:54:26.160> inside<00:54:27.280> the<00:54:27.520> component 00:54:28.230 --> 00:54:28.240 align:start position:0% we opened inside the component 00:54:28.240 --> 00:54:30.790 align:start position:0% we opened inside the component is<00:54:28.559> completely<00:54:29.119> different<00:54:29.920> because<00:54:30.480> the 00:54:30.790 --> 00:54:30.800 align:start position:0% is completely different because the 00:54:30.800 --> 00:54:33.109 align:start position:0% is completely different because the actuator<00:54:31.599> is<00:54:31.920> just 00:54:33.109 --> 00:54:33.119 align:start position:0% actuator is just 00:54:33.119 --> 00:54:36.230 align:start position:0% actuator is just just<00:54:33.440> only<00:54:33.680> one<00:54:34.319> for<00:54:34.559> each<00:54:34.800> joint<00:54:35.599> but<00:54:36.000> for 00:54:36.230 --> 00:54:36.240 align:start position:0% just only one for each joint but for 00:54:36.240 --> 00:54:37.030 align:start position:0% just only one for each joint but for humans 00:54:37.030 --> 00:54:37.040 align:start position:0% humans 00:54:37.040 --> 00:54:40.789 align:start position:0% humans many<00:54:37.520> muscles<00:54:38.160> are<00:54:38.480> coupled<00:54:39.920> and<00:54:40.160> the<00:54:40.319> sensor 00:54:40.789 --> 00:54:40.799 align:start position:0% many muscles are coupled and the sensor 00:54:40.799 --> 00:54:41.670 align:start position:0% many muscles are coupled and the sensor is<00:54:40.960> so<00:54:41.200> many 00:54:41.670 --> 00:54:41.680 align:start position:0% is so many 00:54:41.680 --> 00:54:44.549 align:start position:0% is so many but<00:54:42.000> it's<00:54:42.319> just<00:54:43.280> just<00:54:43.599> a<00:54:43.760> few<00:54:44.079> number<00:54:44.400> of 00:54:44.549 --> 00:54:44.559 align:start position:0% but it's just just a few number of 00:54:44.559 --> 00:54:46.150 align:start position:0% but it's just just a few number of sensors 00:54:46.150 --> 00:54:46.160 align:start position:0% sensors 00:54:46.160 --> 00:54:48.470 align:start position:0% sensors so<00:54:46.480> the<00:54:46.640> mechanical<00:54:47.280> component<00:54:47.920> electrical 00:54:48.470 --> 00:54:48.480 align:start position:0% so the mechanical component electrical 00:54:48.480 --> 00:54:50.870 align:start position:0% so the mechanical component electrical component<00:54:48.880> is<00:54:48.960> completely<00:54:49.440> different 00:54:50.870 --> 00:54:50.880 align:start position:0% component is completely different 00:54:50.880 --> 00:54:54.309 align:start position:0% component is completely different so<00:54:51.599> so<00:54:52.000> therefore<00:54:52.640> the<00:54:52.960> simply<00:54:53.599> run 00:54:54.309 --> 00:54:54.319 align:start position:0% so so therefore the simply run 00:54:54.319 --> 00:54:57.910 align:start position:0% so so therefore the simply run secret<00:54:54.960> imitations<00:54:56.160> often<00:54:56.720> fail 00:54:57.910 --> 00:54:57.920 align:start position:0% secret imitations often fail 00:54:57.920 --> 00:55:01.030 align:start position:0% secret imitations often fail so<00:54:58.720> so<00:54:58.960> this<00:54:59.200> is<00:54:59.359> my<00:54:59.839> experience 00:55:01.030 --> 00:55:01.040 align:start position:0% so so this is my experience 00:55:01.040 --> 00:55:04.829 align:start position:0% so so this is my experience okay<00:55:01.359> i'll<00:55:01.599> give<00:55:01.760> you<00:55:01.920> a<00:55:02.000> very<00:55:02.240> good<00:55:02.480> example 00:55:04.829 --> 00:55:04.839 align:start position:0% okay i'll give you a very good example 00:55:04.839 --> 00:55:06.549 align:start position:0% okay i'll give you a very good example um<00:55:05.440> airplane 00:55:06.549 --> 00:55:06.559 align:start position:0% um airplane 00:55:06.559 --> 00:55:09.990 align:start position:0% um airplane okay<00:55:07.440> so<00:55:07.760> designer<00:55:08.720> is 00:55:09.990 --> 00:55:10.000 align:start position:0% okay so designer is 00:55:10.000 --> 00:55:13.430 align:start position:0% okay so designer is many<00:55:10.319> people<00:55:11.359> from<00:55:11.680> roman<00:55:12.240> period 00:55:13.430 --> 00:55:13.440 align:start position:0% many people from roman period 00:55:13.440 --> 00:55:17.030 align:start position:0% many people from roman period they<00:55:14.880> wanted<00:55:15.760> to<00:55:16.079> design 00:55:17.030 --> 00:55:17.040 align:start position:0% they wanted to design 00:55:17.040 --> 00:55:20.309 align:start position:0% they wanted to design just<00:55:17.359> like<00:55:17.599> a<00:55:17.760> bar<00:55:18.720> okay<00:55:19.119> that<00:55:19.440> kind<00:55:19.760> of 00:55:20.309 --> 00:55:20.319 align:start position:0% just like a bar okay that kind of 00:55:20.319 --> 00:55:23.510 align:start position:0% just like a bar okay that kind of swing<00:55:20.799> motion<00:55:22.400> but<00:55:22.720> then 00:55:23.510 --> 00:55:23.520 align:start position:0% swing motion but then 00:55:23.520 --> 00:55:27.349 align:start position:0% swing motion but then they<00:55:23.920> fell<00:55:24.720> this<00:55:24.960> is<00:55:25.119> a<00:55:25.280> long<00:55:25.760> long<00:55:26.240> history 00:55:27.349 --> 00:55:27.359 align:start position:0% they fell this is a long long history 00:55:27.359 --> 00:55:31.030 align:start position:0% they fell this is a long long history and<00:55:27.760> then<00:55:28.400> it's<00:55:28.799> a<00:55:29.040> light<00:55:29.839> presence<00:55:30.480> united 00:55:31.030 --> 00:55:31.040 align:start position:0% and then it's a light presence united 00:55:31.040 --> 00:55:31.829 align:start position:0% and then it's a light presence united states 00:55:31.829 --> 00:55:31.839 align:start position:0% states 00:55:31.839 --> 00:55:35.030 align:start position:0% states eventually<00:55:32.839> succeeded<00:55:34.000> but 00:55:35.030 --> 00:55:35.040 align:start position:0% eventually succeeded but 00:55:35.040 --> 00:55:40.870 align:start position:0% eventually succeeded but okay<00:55:35.599> one<00:55:36.079> clever<00:55:36.640> guide 00:55:40.870 --> 00:55:40.880 align:start position:0% 00:55:40.880 --> 00:55:44.230 align:start position:0% found<00:55:41.520> that<00:55:42.160> okay<00:55:42.720> without<00:55:43.440> seeing 00:55:44.230 --> 00:55:44.240 align:start position:0% found that okay without seeing 00:55:44.240 --> 00:55:48.789 align:start position:0% found that okay without seeing motion<00:55:46.000> the<00:55:46.880> artificial<00:55:47.599> system 00:55:48.789 --> 00:55:48.799 align:start position:0% motion the artificial system 00:55:48.799 --> 00:55:52.870 align:start position:0% motion the artificial system they<00:55:49.280> can<00:55:50.319> get<00:55:50.720> a<00:55:50.960> lifting<00:55:51.440> force 00:55:52.870 --> 00:55:52.880 align:start position:0% they can get a lifting force 00:55:52.880 --> 00:55:56.309 align:start position:0% they can get a lifting force yeah<00:55:54.000> so<00:55:54.960> um 00:55:56.309 --> 00:55:56.319 align:start position:0% yeah so um 00:55:56.319 --> 00:56:00.470 align:start position:0% yeah so um this<00:55:57.520> the<00:55:57.760> swinging<00:55:58.319> motion<00:55:59.119> produce 00:56:00.470 --> 00:56:00.480 align:start position:0% this the swinging motion produce 00:56:00.480 --> 00:56:03.910 align:start position:0% this the swinging motion produce not<00:56:00.720> only<00:56:01.119> the<00:56:01.760> uh<00:56:02.559> property<00:56:03.200> force 00:56:03.910 --> 00:56:03.920 align:start position:0% not only the uh property force 00:56:03.920 --> 00:56:07.030 align:start position:0% not only the uh property force but<00:56:04.160> also<00:56:04.640> this<00:56:05.040> swing<00:56:05.680> lifting<00:56:06.240> force 00:56:07.030 --> 00:56:07.040 align:start position:0% but also this swing lifting force 00:56:07.040 --> 00:56:09.910 align:start position:0% but also this swing lifting force so<00:56:07.200> the<00:56:07.359> swinging<00:56:07.839> motion<00:56:08.720> can<00:56:08.960> produce<00:56:09.599> the 00:56:09.910 --> 00:56:09.920 align:start position:0% so the swinging motion can produce the 00:56:09.920 --> 00:56:12.150 align:start position:0% so the swinging motion can produce the two<00:56:10.240> kind<00:56:10.559> of<00:56:10.799> force 00:56:12.150 --> 00:56:12.160 align:start position:0% two kind of force 00:56:12.160 --> 00:56:16.549 align:start position:0% two kind of force then<00:56:13.119> the<00:56:13.440> point<00:56:14.079> is<00:56:14.319> not<00:56:14.640> succinct<00:56:15.440> motion 00:56:16.549 --> 00:56:16.559 align:start position:0% then the point is not succinct motion 00:56:16.559 --> 00:56:19.190 align:start position:0% then the point is not succinct motion the<00:56:16.799> point<00:56:17.280> is<00:56:17.599> how<00:56:17.839> to<00:56:18.079> generate<00:56:18.559> the<00:56:18.720> lifting 00:56:19.190 --> 00:56:19.200 align:start position:0% the point is how to generate the lifting 00:56:19.200 --> 00:56:20.069 align:start position:0% the point is how to generate the lifting force 00:56:20.069 --> 00:56:20.079 align:start position:0% force 00:56:20.079 --> 00:56:22.470 align:start position:0% force and<00:56:20.319> propelling<00:56:20.960> force<00:56:21.839> so<00:56:22.160> it's<00:56:22.319> not 00:56:22.470 --> 00:56:22.480 align:start position:0% and propelling force so it's not 00:56:22.480 --> 00:56:25.270 align:start position:0% and propelling force so it's not necessary<00:56:23.119> to<00:56:23.359> subject<00:56:23.760> swinging<00:56:24.160> motion 00:56:25.270 --> 00:56:25.280 align:start position:0% necessary to subject swinging motion 00:56:25.280 --> 00:56:29.910 align:start position:0% necessary to subject swinging motion just<00:56:25.680> a<00:56:25.920> fixed<00:56:26.720> wing<00:56:27.760> can<00:56:28.000> do<00:56:28.240> that 00:56:29.910 --> 00:56:29.920 align:start position:0% just a fixed wing can do that 00:56:29.920 --> 00:56:32.870 align:start position:0% just a fixed wing can do that additional<00:56:30.480> is<00:56:30.720> one<00:56:31.520> proper<00:56:32.319> problem<00:56:32.720> you 00:56:32.870 --> 00:56:32.880 align:start position:0% additional is one proper problem you 00:56:32.880 --> 00:56:33.750 align:start position:0% additional is one proper problem you know 00:56:33.750 --> 00:56:33.760 align:start position:0% know 00:56:33.760 --> 00:56:37.109 align:start position:0% know is<00:56:34.079> a<00:56:34.319> high<00:56:34.880> high<00:56:35.200> speed<00:56:35.520> of<00:56:35.680> rotation 00:56:37.109 --> 00:56:37.119 align:start position:0% is a high high speed of rotation 00:56:37.119 --> 00:56:40.309 align:start position:0% is a high high speed of rotation that<00:56:38.079> system<00:56:39.119> can 00:56:40.309 --> 00:56:40.319 align:start position:0% that system can 00:56:40.319 --> 00:56:43.829 align:start position:0% that system can can<00:56:40.720> move<00:56:41.200> forward<00:56:41.920> anyway<00:56:42.799> okay 00:56:43.829 --> 00:56:43.839 align:start position:0% can move forward anyway okay 00:56:43.839 --> 00:56:46.870 align:start position:0% can move forward anyway okay then<00:56:44.720> the<00:56:45.839> the 00:56:46.870 --> 00:56:46.880 align:start position:0% then the the 00:56:46.880 --> 00:56:49.670 align:start position:0% then the the system<00:56:47.440> move<00:56:47.839> forward<00:56:48.559> the<00:56:48.799> system<00:56:49.200> includes 00:56:49.670 --> 00:56:49.680 align:start position:0% system move forward the system includes 00:56:49.680 --> 00:56:51.510 align:start position:0% system move forward the system includes such<00:56:50.000> a<00:56:50.160> fixed<00:56:50.559> ring 00:56:51.510 --> 00:56:51.520 align:start position:0% such a fixed ring 00:56:51.520 --> 00:56:54.069 align:start position:0% such a fixed ring the<00:56:51.760> fixed<00:56:52.000> swing<00:56:52.559> automatically<00:56:53.599> gets<00:56:53.920> a 00:56:54.069 --> 00:56:54.079 align:start position:0% the fixed swing automatically gets a 00:56:54.079 --> 00:56:55.430 align:start position:0% the fixed swing automatically gets a lifting<00:56:54.640> force 00:56:55.430 --> 00:56:55.440 align:start position:0% lifting force 00:56:55.440 --> 00:56:58.870 align:start position:0% lifting force okay<00:56:56.079> this<00:56:56.400> lifting<00:56:56.960> force<00:56:57.599> is<00:56:57.920> the 00:56:58.870 --> 00:56:58.880 align:start position:0% okay this lifting force is the 00:56:58.880 --> 00:57:02.549 align:start position:0% okay this lifting force is the uh<00:56:59.680> is<00:57:00.000> proportional<00:57:01.040> uh<00:57:01.520> proportional<00:57:02.240> to 00:57:02.549 --> 00:57:02.559 align:start position:0% uh is proportional uh proportional to 00:57:02.559 --> 00:57:03.510 align:start position:0% uh is proportional uh proportional to the 00:57:03.510 --> 00:57:03.520 align:start position:0% the 00:57:03.520 --> 00:57:07.270 align:start position:0% the uh<00:57:04.640> moving<00:57:05.119> support<00:57:05.680> speed<00:57:06.079> actually<00:57:06.559> the 00:57:07.270 --> 00:57:07.280 align:start position:0% uh moving support speed actually the 00:57:07.280 --> 00:57:11.190 align:start position:0% uh moving support speed actually the quadratic<00:57:08.880> type<00:57:09.599> proportion 00:57:11.190 --> 00:57:11.200 align:start position:0% quadratic type proportion 00:57:11.200 --> 00:57:14.630 align:start position:0% quadratic type proportion so<00:57:11.760> the<00:57:12.559> clever<00:57:13.040> guy<00:57:13.680> is<00:57:14.079> the 00:57:14.630 --> 00:57:14.640 align:start position:0% so the clever guy is the 00:57:14.640 --> 00:57:18.710 align:start position:0% so the clever guy is the such<00:57:15.040> kind<00:57:15.440> of<00:57:16.880> analysis 00:57:18.710 --> 00:57:18.720 align:start position:0% such kind of analysis 00:57:18.720 --> 00:57:21.990 align:start position:0% such kind of analysis i<00:57:18.880> mean<00:57:19.280> the<00:57:19.760> swinging<00:57:20.640> is<00:57:20.880> not<00:57:21.200> necessary 00:57:21.990 --> 00:57:22.000 align:start position:0% i mean the swinging is not necessary 00:57:22.000 --> 00:57:25.030 align:start position:0% i mean the swinging is not necessary it's<00:57:22.240> not<00:57:22.720> imitate<00:57:24.000> the 00:57:25.030 --> 00:57:25.040 align:start position:0% it's not imitate the 00:57:25.040 --> 00:57:28.789 align:start position:0% it's not imitate the swinging<00:57:25.599> motion<00:57:26.960> just<00:57:27.440> singing<00:57:28.000> motion 00:57:28.789 --> 00:57:28.799 align:start position:0% swinging motion just singing motion 00:57:28.799 --> 00:57:32.309 align:start position:0% swinging motion just singing motion is<00:57:29.040> producing<00:57:30.640> both<00:57:31.119> the<00:57:31.280> lifting<00:57:31.839> force 00:57:32.309 --> 00:57:32.319 align:start position:0% is producing both the lifting force 00:57:32.319 --> 00:57:35.430 align:start position:0% is producing both the lifting force and<00:57:32.640> proper<00:57:33.119> force<00:57:34.160> then<00:57:34.480> the<00:57:34.720> questions 00:57:35.430 --> 00:57:35.440 align:start position:0% and proper force then the questions 00:57:35.440 --> 00:57:38.470 align:start position:0% and proper force then the questions how<00:57:35.680> to<00:57:35.920> realize<00:57:36.880> these<00:57:37.280> two<00:57:37.520> forces 00:57:38.470 --> 00:57:38.480 align:start position:0% how to realize these two forces 00:57:38.480 --> 00:57:42.630 align:start position:0% how to realize these two forces okay<00:57:39.520> then<00:57:40.960> by<00:57:41.280> combining<00:57:42.000> properly 00:57:42.630 --> 00:57:42.640 align:start position:0% okay then by combining properly 00:57:42.640 --> 00:57:46.150 align:start position:0% okay then by combining properly force<00:57:43.520> properly<00:57:44.400> properly<00:57:45.119> producing<00:57:45.760> only 00:57:46.150 --> 00:57:46.160 align:start position:0% force properly properly producing only 00:57:46.160 --> 00:57:48.390 align:start position:0% force properly properly producing only the 00:57:48.390 --> 00:57:48.400 align:start position:0% 00:57:48.400 --> 00:57:51.750 align:start position:0% property<00:57:49.040> force<00:57:50.160> and<00:57:50.559> the<00:57:50.720> airplane<00:57:51.280> can<00:57:51.520> go 00:57:51.750 --> 00:57:51.760 align:start position:0% property force and the airplane can go 00:57:51.760 --> 00:57:53.109 align:start position:0% property force and the airplane can go forward 00:57:53.109 --> 00:57:53.119 align:start position:0% forward 00:57:53.119 --> 00:57:56.789 align:start position:0% forward on<00:57:53.440> the<00:57:53.680> ground<00:57:55.280> then<00:57:55.839> with<00:57:56.160> the<00:57:56.400> fixed 00:57:56.789 --> 00:57:56.799 align:start position:0% on the ground then with the fixed 00:57:56.799 --> 00:57:59.829 align:start position:0% on the ground then with the fixed wing<00:57:57.520> it<00:57:57.920> automatically<00:57:58.960> gets<00:57:59.200> a<00:57:59.359> lifting 00:57:59.829 --> 00:57:59.839 align:start position:0% wing it automatically gets a lifting 00:57:59.839 --> 00:58:01.349 align:start position:0% wing it automatically gets a lifting force 00:58:01.349 --> 00:58:01.359 align:start position:0% force 00:58:01.359 --> 00:58:05.510 align:start position:0% force so<00:58:02.319> this<00:58:02.960> this<00:58:03.359> guy<00:58:03.680> is<00:58:03.920> very<00:58:04.160> clever 00:58:05.510 --> 00:58:05.520 align:start position:0% so this this guy is very clever 00:58:05.520 --> 00:58:08.549 align:start position:0% so this this guy is very clever okay<00:58:06.079> and<00:58:06.240> so<00:58:06.559> the<00:58:06.960> uh<00:58:07.520> then<00:58:08.079> i 00:58:08.549 --> 00:58:08.559 align:start position:0% okay and so the uh then i 00:58:08.559 --> 00:58:11.829 align:start position:0% okay and so the uh then i always<00:58:09.280> thinking<00:58:09.760> about<00:58:10.799> okay 00:58:11.829 --> 00:58:11.839 align:start position:0% always thinking about okay 00:58:11.839 --> 00:58:15.750 align:start position:0% always thinking about okay bio<00:58:12.559> biologically<00:58:13.520> inspired<00:58:14.240> robot 00:58:15.750 --> 00:58:15.760 align:start position:0% bio biologically inspired robot 00:58:15.760 --> 00:58:18.950 align:start position:0% bio biologically inspired robot okay<00:58:16.400> see<00:58:16.720> this<00:58:17.040> keyword<00:58:17.680> is<00:58:18.640> very 00:58:18.950 --> 00:58:18.960 align:start position:0% okay see this keyword is very 00:58:18.960 --> 00:58:20.230 align:start position:0% okay see this keyword is very interesting 00:58:20.230 --> 00:58:20.240 align:start position:0% interesting 00:58:20.240 --> 00:58:23.670 align:start position:0% interesting but<00:58:20.559> we<00:58:20.880> have<00:58:21.119> to<00:58:21.280> be<00:58:21.440> very<00:58:21.760> careful<00:58:22.880> the<00:58:23.200> pure 00:58:23.670 --> 00:58:23.680 align:start position:0% but we have to be very careful the pure 00:58:23.680 --> 00:58:24.710 align:start position:0% but we have to be very careful the pure imitation 00:58:24.710 --> 00:58:24.720 align:start position:0% imitation 00:58:24.720 --> 00:58:28.390 align:start position:0% imitation of<00:58:26.240> biological<00:58:27.119> motion 00:58:28.390 --> 00:58:28.400 align:start position:0% of biological motion 00:58:28.400 --> 00:58:32.230 align:start position:0% of biological motion often<00:58:28.880> fail<00:58:30.480> because<00:58:31.119> the 00:58:32.230 --> 00:58:32.240 align:start position:0% often fail because the 00:58:32.240 --> 00:58:35.990 align:start position:0% often fail because the this<00:58:33.040> example<00:58:33.680> of<00:58:34.000> the<00:58:34.839> development<00:58:35.359> of<00:58:35.839> the 00:58:35.990 --> 00:58:36.000 align:start position:0% this example of the development of the 00:58:36.000 --> 00:58:37.190 align:start position:0% this example of the development of the airplane 00:58:37.190 --> 00:58:37.200 align:start position:0% airplane 00:58:37.200 --> 00:58:41.270 align:start position:0% airplane uh<00:58:37.520> is<00:58:37.920> one<00:58:38.400> very<00:58:38.799> good<00:58:39.040> example 00:58:41.270 --> 00:58:41.280 align:start position:0% uh is one very good example 00:58:41.280 --> 00:58:43.190 align:start position:0% uh is one very good example well<00:58:41.520> you<00:58:41.680> only<00:58:41.920> have<00:58:42.240> a<00:58:42.400> few<00:58:42.559> minutes<00:58:42.880> left 00:58:43.190 --> 00:58:43.200 align:start position:0% well you only have a few minutes left 00:58:43.200 --> 00:58:44.789 align:start position:0% well you only have a few minutes left are<00:58:43.280> we<00:58:43.359> only<00:58:43.599> one<00:58:43.760> minute<00:58:44.240> you<00:58:44.319> have<00:58:44.400> to<00:58:44.640> meet 00:58:44.789 --> 00:58:44.799 align:start position:0% are we only one minute you have to meet 00:58:44.799 --> 00:58:45.670 align:start position:0% are we only one minute you have to meet your<00:58:45.040> friends<00:58:45.359> right 00:58:45.670 --> 00:58:45.680 align:start position:0% your friends right 00:58:45.680 --> 00:58:48.829 align:start position:0% your friends right okay<00:58:46.720> but<00:58:46.880> you're<00:58:47.359> starting<00:58:47.599> to<00:58:47.680> get<00:58:47.760> warmed 00:58:48.829 --> 00:58:48.839 align:start position:0% okay but you're starting to get warmed 00:58:48.839 --> 00:58:52.880 align:start position:0% okay but you're starting to get warmed up 00:58:52.880 --> 00:58:52.890 align:start position:0% 00:58:52.890 --> 00:58:55.430 align:start position:0% [Music] 00:58:55.430 --> 00:58:55.440 align:start position:0% [Music] 00:58:55.440 --> 00:58:59.270 align:start position:0% [Music] then<00:58:56.559> that<00:58:56.880> is<00:58:57.040> a<00:58:57.200> history<00:58:57.760> of<00:58:58.000> my<00:58:58.160> grasping 00:58:59.270 --> 00:58:59.280 align:start position:0% then that is a history of my grasping 00:58:59.280 --> 00:59:02.870 align:start position:0% then that is a history of my grasping and<00:58:59.520> then<00:59:00.000> also<00:59:00.400> some<00:59:00.720> sensing<00:59:02.240> then 00:59:02.870 --> 00:59:02.880 align:start position:0% and then also some sensing then 00:59:02.880 --> 00:59:05.910 align:start position:0% and then also some sensing then okay<00:59:03.440> in<00:59:04.440> 2002<00:59:05.520> or 00:59:05.910 --> 00:59:05.920 align:start position:0% okay in 2002 or 00:59:05.920 --> 00:59:09.270 align:start position:0% okay in 2002 or three<00:59:07.760> i<00:59:08.079> met 00:59:09.270 --> 00:59:09.280 align:start position:0% three i met 00:59:09.280 --> 00:59:12.309 align:start position:0% three i met an<00:59:10.079> associate<00:59:10.799> one 00:59:12.309 --> 00:59:12.319 align:start position:0% an associate one 00:59:12.319 --> 00:59:15.910 align:start position:0% an associate one associate<00:59:13.040> professor<00:59:14.720> his 00:59:15.910 --> 00:59:15.920 align:start position:0% associate professor his 00:59:15.920 --> 00:59:20.069 align:start position:0% associate professor his high<00:59:16.160> speed<00:59:16.559> vision<00:59:17.760> i<00:59:18.079> joined<00:59:18.480> my<00:59:18.720> life 00:59:20.069 --> 00:59:20.079 align:start position:0% high speed vision i joined my life 00:59:20.079 --> 00:59:23.829 align:start position:0% high speed vision i joined my life this<00:59:20.319> is<00:59:20.559> a<00:59:20.799> great<00:59:21.599> job<00:59:21.920> for<00:59:22.160> me 00:59:23.829 --> 00:59:23.839 align:start position:0% this is a great job for me 00:59:23.839 --> 00:59:28.870 align:start position:0% this is a great job for me and<00:59:25.200> his<00:59:25.680> idea<00:59:26.480> is 00:59:28.870 --> 00:59:28.880 align:start position:0% 00:59:28.880 --> 00:59:32.549 align:start position:0% his<00:59:29.200> vision<00:59:29.839> is<00:59:31.680> is 00:59:32.549 --> 00:59:32.559 align:start position:0% his vision is is 00:59:32.559 --> 00:59:35.589 align:start position:0% his vision is is almost<00:59:33.119> 60<00:59:34.400> times<00:59:35.040> faster 00:59:35.589 --> 00:59:35.599 align:start position:0% almost 60 times faster 00:59:35.599 --> 00:59:38.950 align:start position:0% almost 60 times faster than<00:59:35.920> human<00:59:36.400> eye<00:59:37.760> so<00:59:38.079> the<00:59:38.319> scanning 00:59:38.950 --> 00:59:38.960 align:start position:0% than human eye so the scanning 00:59:38.960 --> 00:59:42.870 align:start position:0% than human eye so the scanning of<00:59:41.280> rate<00:59:41.760> is 00:59:42.870 --> 00:59:42.880 align:start position:0% of rate is 00:59:42.880 --> 00:59:46.069 align:start position:0% of rate is 1000<00:59:43.839> frames<00:59:44.240> per<00:59:44.480> second<00:59:45.520> human 00:59:46.069 --> 00:59:46.079 align:start position:0% 1000 frames per second human 00:59:46.079 --> 00:59:49.750 align:start position:0% 1000 frames per second human cannot<00:59:47.040> human<00:59:47.440> can<00:59:47.760> handle<00:59:48.319> roughly 00:59:49.750 --> 00:59:49.760 align:start position:0% cannot human can handle roughly 00:59:49.760 --> 00:59:52.870 align:start position:0% cannot human can handle roughly 10<00:59:50.079> frames<00:59:50.480> per<00:59:50.720> second<00:59:51.839> okay 00:59:52.870 --> 00:59:52.880 align:start position:0% 10 frames per second okay 00:59:52.880 --> 00:59:56.710 align:start position:0% 10 frames per second okay the<00:59:54.799> 1000<00:59:55.599> frame<00:59:55.920> per<00:59:56.160> second 00:59:56.710 --> 00:59:56.720 align:start position:0% the 1000 frame per second 00:59:56.720 --> 01:00:00.390 align:start position:0% the 1000 frame per second is<00:59:56.960> a<00:59:57.280> hundred<00:59:57.760> times<00:59:58.160> more<00:59:58.400> than<00:59:58.839> human 01:00:00.390 --> 01:00:00.400 align:start position:0% is a hundred times more than human 01:00:00.400 --> 01:00:03.430 align:start position:0% is a hundred times more than human then<01:00:01.040> okay<01:00:02.400> i<01:00:02.799> think<01:00:03.040> about 01:00:03.430 --> 01:00:03.440 align:start position:0% then okay i think about 01:00:03.440 --> 01:00:06.950 align:start position:0% then okay i think about if<01:00:03.599> we<01:00:03.839> combine<01:00:04.640> both<01:00:05.200> high<01:00:05.520> speed<01:00:05.920> vision 01:00:06.950 --> 01:00:06.960 align:start position:0% if we combine both high speed vision 01:00:06.960 --> 01:00:09.990 align:start position:0% if we combine both high speed vision and<01:00:07.359> high<01:00:07.599> speed<01:00:08.000> actuator<01:00:09.359> then 01:00:09.990 --> 01:00:10.000 align:start position:0% and high speed actuator then 01:00:10.000 --> 01:00:13.589 align:start position:0% and high speed actuator then okay<01:00:10.319> we<01:00:10.480> can<01:00:10.799> easily<01:00:12.720> develop<01:00:13.280> the 01:00:13.589 --> 01:00:13.599 align:start position:0% okay we can easily develop the 01:00:13.599 --> 01:00:16.710 align:start position:0% okay we can easily develop the robot<01:00:14.079> system<01:00:15.119> that<01:00:15.440> can<01:00:15.839> exceed 01:00:16.710 --> 01:00:16.720 align:start position:0% robot system that can exceed 01:00:16.720 --> 01:00:20.950 align:start position:0% robot system that can exceed the<01:00:16.880> human<01:00:17.280> capability<01:00:18.880> so<01:00:19.440> this<01:00:19.680> is<01:00:19.839> the<01:00:20.000> idea 01:00:20.950 --> 01:00:20.960 align:start position:0% the human capability so this is the idea 01:00:20.960 --> 01:00:24.789 align:start position:0% the human capability so this is the idea then<01:00:22.000> i<01:00:22.640> i<01:00:22.880> developed<01:00:23.599> the 01:00:24.789 --> 01:00:24.799 align:start position:0% then i i developed the 01:00:24.799 --> 01:00:28.549 align:start position:0% then i i developed the 100<01:00:25.599> g<01:00:26.799> capturing<01:00:27.440> robot 01:00:28.549 --> 01:00:28.559 align:start position:0% 100 g capturing robot 01:00:28.559 --> 01:00:31.750 align:start position:0% 100 g capturing robot okay<01:00:28.880> 100g<01:00:29.599> means<01:00:30.000> the<01:00:30.240> action<01:00:31.200> this 01:00:31.750 --> 01:00:31.760 align:start position:0% okay 100g means the action this 01:00:31.760 --> 01:00:34.950 align:start position:0% okay 100g means the action this quick<01:00:32.160> action<01:00:32.720> is<01:00:33.040> maximum<01:00:33.599> acceleration<01:00:34.720> is 01:00:34.950 --> 01:00:34.960 align:start position:0% quick action is maximum acceleration is 01:00:34.960 --> 01:00:36.789 align:start position:0% quick action is maximum acceleration is 100g 01:00:36.789 --> 01:00:36.799 align:start position:0% 100g 01:00:36.799 --> 01:00:39.589 align:start position:0% 100g so<01:00:37.119> the<01:00:37.280> 100g<01:00:38.079> is<01:00:38.480> very<01:00:38.880> very<01:00:39.280> big 01:00:39.589 --> 01:00:39.599 align:start position:0% so the 100g is very very big 01:00:39.599 --> 01:00:40.630 align:start position:0% so the 100g is very very big acceleration 01:00:40.630 --> 01:00:40.640 align:start position:0% acceleration 01:00:40.640 --> 01:00:42.630 align:start position:0% acceleration where<01:00:41.119> g<01:00:41.520> is<01:00:41.680> the<01:00:41.839> gravitational 01:00:42.630 --> 01:00:42.640 align:start position:0% where g is the gravitational 01:00:42.640 --> 01:00:43.910 align:start position:0% where g is the gravitational acceleration 01:00:43.910 --> 01:00:43.920 align:start position:0% acceleration 01:00:43.920 --> 01:00:46.789 align:start position:0% acceleration so<01:00:44.160> the<01:00:44.400> hundred<01:00:44.880> times<01:00:45.280> more<01:00:46.079> so<01:00:46.319> if<01:00:46.480> your 01:00:46.789 --> 01:00:46.799 align:start position:0% so the hundred times more so if your 01:00:46.799 --> 01:00:47.270 align:start position:0% so the hundred times more so if your weight 01:00:47.270 --> 01:00:47.280 align:start position:0% weight 01:00:47.280 --> 01:00:50.789 align:start position:0% weight is<01:00:47.839> for<01:00:48.079> example<01:00:48.559> 50<01:00:49.520> kilogram 01:00:50.789 --> 01:00:50.799 align:start position:0% is for example 50 kilogram 01:00:50.799 --> 01:00:54.150 align:start position:0% is for example 50 kilogram then<01:00:51.200> it's<01:00:51.440> a<01:00:51.599> hundred<01:00:52.079> times<01:00:52.480> more<01:00:53.520> so 01:00:54.150 --> 01:00:54.160 align:start position:0% then it's a hundred times more so 01:00:54.160 --> 01:00:57.589 align:start position:0% then it's a hundred times more so under<01:00:54.480> such<01:00:54.880> a<01:00:55.359> situation<01:00:56.480> you<01:00:56.720> can<01:00:57.119> survive 01:00:57.589 --> 01:00:57.599 align:start position:0% under such a situation you can survive 01:00:57.599 --> 01:00:58.069 align:start position:0% under such a situation you can survive at 01:00:58.069 --> 01:00:58.079 align:start position:0% at 01:00:58.079 --> 01:01:01.910 align:start position:0% at all<01:00:59.440> okay<01:01:00.319> then<01:01:00.640> we<01:01:00.880> design 01:01:01.910 --> 01:01:01.920 align:start position:0% all okay then we design 01:01:01.920 --> 01:01:05.430 align:start position:0% all okay then we design and<01:01:02.480> such<01:01:02.799> kind<01:01:03.119> of<01:01:03.280> 100g<01:01:04.000> capture<01:01:04.480> robot 01:01:05.430 --> 01:01:05.440 align:start position:0% and such kind of 100g capture robot 01:01:05.440 --> 01:01:07.990 align:start position:0% and such kind of 100g capture robot and<01:01:05.920> combined<01:01:06.559> with<01:01:06.880> a<01:01:06.960> high<01:01:07.200> speed<01:01:07.599> vision 01:01:07.990 --> 01:01:08.000 align:start position:0% and combined with a high speed vision 01:01:08.000 --> 01:01:09.190 align:start position:0% and combined with a high speed vision system 01:01:09.190 --> 01:01:09.200 align:start position:0% system 01:01:09.200 --> 01:01:11.670 align:start position:0% system and<01:01:09.680> we<01:01:10.079> we<01:01:10.319> dropped<01:01:10.640> the<01:01:10.799> object<01:01:11.200> from<01:01:11.440> the 01:01:11.670 --> 01:01:11.680 align:start position:0% and we we dropped the object from the 01:01:11.680 --> 01:01:12.950 align:start position:0% and we we dropped the object from the one<01:01:11.920> meter<01:01:12.319> high 01:01:12.950 --> 01:01:12.960 align:start position:0% one meter high 01:01:12.960 --> 01:01:16.069 align:start position:0% one meter high in<01:01:13.200> that<01:01:13.440> that<01:01:13.760> point<01:01:14.240> is<01:01:14.960> almost<01:01:15.520> four<01:01:15.760> meter 01:01:16.069 --> 01:01:16.079 align:start position:0% in that that point is almost four meter 01:01:16.079 --> 01:01:16.950 align:start position:0% in that that point is almost four meter per<01:01:16.319> second 01:01:16.950 --> 01:01:16.960 align:start position:0% per second 01:01:16.960 --> 01:01:20.069 align:start position:0% per second the<01:01:17.119> speed<01:01:17.839> speed<01:01:18.160> is<01:01:18.319> so<01:01:18.559> quick<01:01:19.440> and<01:01:19.680> human 01:01:20.069 --> 01:01:20.079 align:start position:0% the speed speed is so quick and human 01:01:20.079 --> 01:01:20.390 align:start position:0% the speed speed is so quick and human can 01:01:20.390 --> 01:01:20.400 align:start position:0% can 01:01:20.400 --> 01:01:24.069 align:start position:0% can capture<01:01:21.119> okay<01:01:21.839> but<01:01:22.160> this<01:01:22.559> logo<01:01:22.960> can<01:01:23.280> capture 01:01:24.069 --> 01:01:24.079 align:start position:0% capture okay but this logo can capture 01:01:24.079 --> 01:01:27.510 align:start position:0% capture okay but this logo can capture so<01:01:24.400> in<01:01:24.720> such<01:01:25.040> sense<01:01:25.839> if<01:01:26.079> this<01:01:26.319> robot<01:01:26.960> is 01:01:27.510 --> 01:01:27.520 align:start position:0% so in such sense if this robot is 01:01:27.520 --> 01:01:30.390 align:start position:0% so in such sense if this robot is overcome<01:01:28.240> the<01:01:28.400> human<01:01:28.799> capability<01:01:29.920> in<01:01:30.160> some 01:01:30.390 --> 01:01:30.400 align:start position:0% overcome the human capability in some 01:01:30.400 --> 01:01:32.309 align:start position:0% overcome the human capability in some particular<01:01:31.040> task 01:01:32.309 --> 01:01:32.319 align:start position:0% particular task 01:01:32.319 --> 01:01:35.910 align:start position:0% particular task so<01:01:33.280> then<01:01:33.760> okay<01:01:34.319> my<01:01:34.960> interest<01:01:35.599> is 01:01:35.910 --> 01:01:35.920 align:start position:0% so then okay my interest is 01:01:35.920 --> 01:01:39.109 align:start position:0% so then okay my interest is shifted<01:01:36.880> okay<01:01:37.440> see<01:01:38.480> so<01:01:38.720> far 01:01:39.109 --> 01:01:39.119 align:start position:0% shifted okay see so far 01:01:39.119 --> 01:01:42.309 align:start position:0% shifted okay see so far at<01:01:39.280> that<01:01:39.520> time<01:01:40.000> before<01:01:40.400> that<01:01:40.799> time<01:01:41.760> my 01:01:42.309 --> 01:01:42.319 align:start position:0% at that time before that time my 01:01:42.319 --> 01:01:46.309 align:start position:0% at that time before that time my goal<01:01:43.040> is<01:01:43.440> to<01:01:45.119> to<01:01:45.440> design 01:01:46.309 --> 01:01:46.319 align:start position:0% goal is to to design 01:01:46.319 --> 01:01:49.670 align:start position:0% goal is to to design and<01:01:46.880> lower<01:01:47.520> the<01:01:48.319> lower<01:01:48.799> hand 01:01:49.670 --> 01:01:49.680 align:start position:0% and lower the lower hand 01:01:49.680 --> 01:01:53.829 align:start position:0% and lower the lower hand just<01:01:50.000> like<01:01:50.400> a<01:01:50.559> human<01:01:50.960> hand<01:01:52.160> okay 01:01:53.829 --> 01:01:53.839 align:start position:0% just like a human hand okay 01:01:53.839 --> 01:01:57.190 align:start position:0% just like a human hand okay but<01:01:55.280> i<01:01:55.839> gradually<01:01:56.480> learned 01:01:57.190 --> 01:01:57.200 align:start position:0% but i gradually learned 01:01:57.200 --> 01:02:01.430 align:start position:0% but i gradually learned this<01:01:57.440> is<01:01:57.680> really<01:01:58.720> in<01:01:58.960> terms<01:01:59.359> of<01:01:59.520> the<01:01:59.680> dexterity 01:02:01.430 --> 01:02:01.440 align:start position:0% this is really in terms of the dexterity 01:02:01.440 --> 01:02:04.230 align:start position:0% this is really in terms of the dexterity okay<01:02:01.839> in<01:02:02.000> terms<01:02:02.240> of<01:02:02.400> excess<01:02:02.880> actually<01:02:03.839> the 01:02:04.230 --> 01:02:04.240 align:start position:0% okay in terms of excess actually the 01:02:04.240 --> 01:02:04.789 align:start position:0% okay in terms of excess actually the human 01:02:04.789 --> 01:02:04.799 align:start position:0% human 01:02:04.799 --> 01:02:07.029 align:start position:0% human is<01:02:04.960> very<01:02:05.200> good<01:02:05.440> at<01:02:05.599> texas<01:02:06.400> but<01:02:06.640> we<01:02:06.799> can 01:02:07.029 --> 01:02:07.039 align:start position:0% is very good at texas but we can 01:02:07.039 --> 01:02:08.069 align:start position:0% is very good at texas but we can manipulate 01:02:08.069 --> 01:02:08.079 align:start position:0% manipulate 01:02:08.079 --> 01:02:11.430 align:start position:0% manipulate that<01:02:08.319> kind<01:02:08.559> of<01:02:08.720> object<01:02:09.119> just<01:02:09.920> very<01:02:10.240> texturally 01:02:11.430 --> 01:02:11.440 align:start position:0% that kind of object just very texturally 01:02:11.440 --> 01:02:14.710 align:start position:0% that kind of object just very texturally but<01:02:11.920> current<01:02:12.319> roadhead<01:02:13.039> can<01:02:13.280> do<01:02:13.520> that 01:02:14.710 --> 01:02:14.720 align:start position:0% but current roadhead can do that 01:02:14.720 --> 01:02:19.750 align:start position:0% but current roadhead can do that even<01:02:15.280> the<01:02:15.760> most<01:02:16.240> sophisticated<01:02:17.280> robot 01:02:19.750 --> 01:02:19.760 align:start position:0% 01:02:19.760 --> 01:02:23.109 align:start position:0% hand<01:02:20.319> you<01:02:20.400> can<01:02:20.799> do<01:02:20.960> that<01:02:22.319> but 01:02:23.109 --> 01:02:23.119 align:start position:0% hand you can do that but 01:02:23.119 --> 01:02:25.190 align:start position:0% hand you can do that but on<01:02:23.280> the<01:02:23.440> other<01:02:23.680> hand<01:02:24.240> if<01:02:24.480> you<01:02:24.720> change<01:02:25.039> the 01:02:25.190 --> 01:02:25.200 align:start position:0% on the other hand if you change the 01:02:25.200 --> 01:02:26.309 align:start position:0% on the other hand if you change the viewpoint 01:02:26.309 --> 01:02:26.319 align:start position:0% viewpoint 01:02:26.319 --> 01:02:29.670 align:start position:0% viewpoint so<01:02:27.119> very<01:02:27.599> easily<01:02:28.240> we<01:02:28.480> can<01:02:28.720> develop<01:02:29.119> the<01:02:29.280> robot 01:02:29.670 --> 01:02:29.680 align:start position:0% so very easily we can develop the robot 01:02:29.680 --> 01:02:31.349 align:start position:0% so very easily we can develop the robot system 01:02:31.349 --> 01:02:31.359 align:start position:0% system 01:02:31.359 --> 01:02:34.789 align:start position:0% system that<01:02:31.920> exceeds<01:02:32.559> the<01:02:32.720> human<01:02:33.119> capability<01:02:34.240> okay 01:02:34.789 --> 01:02:34.799 align:start position:0% that exceeds the human capability okay 01:02:34.799 --> 01:02:38.069 align:start position:0% that exceeds the human capability okay we<01:02:34.960> should<01:02:35.280> go<01:02:35.440> in<01:02:35.599> this<01:02:35.920> direction<01:02:37.200> so<01:02:37.760> since 01:02:38.069 --> 01:02:38.079 align:start position:0% we should go in this direction so since 01:02:38.079 --> 01:02:39.589 align:start position:0% we should go in this direction so since that<01:02:38.400> time 01:02:39.589 --> 01:02:39.599 align:start position:0% that time 01:02:39.599 --> 01:02:42.950 align:start position:0% that time my<01:02:40.640> my<01:02:41.119> computer<01:02:41.839> my<01:02:42.319> lab 01:02:42.950 --> 01:02:42.960 align:start position:0% my my computer my lab 01:02:42.960 --> 01:02:46.150 align:start position:0% my my computer my lab is<01:02:43.280> catch<01:02:43.599> phrase<01:02:44.160> is<01:02:44.559> hyper<01:02:44.960> human 01:02:46.150 --> 01:02:46.160 align:start position:0% is catch phrase is hyper human 01:02:46.160 --> 01:02:49.430 align:start position:0% is catch phrase is hyper human hyper<01:02:46.640> human<01:02:47.119> is<01:02:47.760> we<01:02:48.000> design<01:02:48.880> the 01:02:49.430 --> 01:02:49.440 align:start position:0% hyper human is we design the 01:02:49.440 --> 01:02:52.950 align:start position:0% hyper human is we design the artificial<01:02:50.319> system<01:02:51.280> that<01:02:51.680> can<01:02:52.079> exceed 01:02:52.950 --> 01:02:52.960 align:start position:0% artificial system that can exceed 01:02:52.960 --> 01:02:56.150 align:start position:0% artificial system that can exceed the<01:02:53.200> human<01:02:53.599> capability<01:02:55.440> so<01:02:55.680> this<01:02:55.920> is 01:02:56.150 --> 01:02:56.160 align:start position:0% the human capability so this is 01:02:56.160 --> 01:03:00.710 align:start position:0% the human capability so this is more<01:02:57.119> impact<01:02:58.160> okay<01:02:59.119> so<01:02:59.440> this<01:02:59.599> is<01:02:59.839> just 01:03:00.710 --> 01:03:00.720 align:start position:0% more impact okay so this is just 01:03:00.720 --> 01:03:04.870 align:start position:0% more impact okay so this is just just<01:03:01.359> it<01:03:01.599> was<01:03:02.000> eight<01:03:02.319> over<01:03:03.440> nine<01:03:03.760> years<01:03:04.079> ago 01:03:04.870 --> 01:03:04.880 align:start position:0% just it was eight over nine years ago 01:03:04.880 --> 01:03:07.910 align:start position:0% just it was eight over nine years ago so<01:03:05.680> so<01:03:05.920> therefore<01:03:06.720> i'm<01:03:07.119> now<01:03:07.520> i'm 01:03:07.910 --> 01:03:07.920 align:start position:0% so so therefore i'm now i'm 01:03:07.920 --> 01:03:10.950 align:start position:0% so so therefore i'm now i'm really<01:03:08.319> happy<01:03:09.200> because<01:03:09.839> i<01:03:10.160> found 01:03:10.950 --> 01:03:10.960 align:start position:0% really happy because i found 01:03:10.960 --> 01:03:14.069 align:start position:0% really happy because i found my<01:03:11.280> real<01:03:11.680> direction<01:03:12.960> okay 01:03:14.069 --> 01:03:14.079 align:start position:0% my real direction okay 01:03:14.079 --> 01:03:17.109 align:start position:0% my real direction okay then<01:03:15.039> um<01:03:15.599> after<01:03:16.079> that<01:03:16.559> is 01:03:17.109 --> 01:03:17.119 align:start position:0% then um after that is 01:03:17.119 --> 01:03:20.789 align:start position:0% then um after that is i<01:03:17.359> developed<01:03:18.319> three<01:03:18.799> robots<01:03:19.760> including<01:03:20.319> the 01:03:20.789 --> 01:03:20.799 align:start position:0% i developed three robots including the 01:03:20.799 --> 01:03:23.910 align:start position:0% i developed three robots including the heart<01:03:21.119> 200<01:03:22.400> 100<01:03:23.440> g 01:03:23.910 --> 01:03:23.920 align:start position:0% heart 200 100 g 01:03:23.920 --> 01:03:26.710 align:start position:0% heart 200 100 g capturing<01:03:24.480> lower<01:03:25.119> the<01:03:25.359> catchphrase<01:03:26.160> is<01:03:26.400> too 01:03:26.710 --> 01:03:26.720 align:start position:0% capturing lower the catchphrase is too 01:03:26.720 --> 01:03:37.029 align:start position:0% capturing lower the catchphrase is too fast<01:03:27.200> to<01:03:27.520> see 01:03:37.029 --> 01:03:37.039 align:start position:0% 01:03:37.039 --> 01:03:40.789 align:start position:0% and<01:03:37.280> then<01:03:37.520> the<01:03:37.839> second<01:03:38.720> robot<01:03:39.280> is<01:03:39.680> the 01:03:40.789 --> 01:03:40.799 align:start position:0% and then the second robot is the 01:03:40.799 --> 01:03:44.309 align:start position:0% and then the second robot is the is<01:03:42.839> the 01:03:44.309 --> 01:03:44.319 align:start position:0% is the 01:03:44.319 --> 01:03:47.430 align:start position:0% is the on<01:03:44.640> the<01:03:45.440> air<01:03:45.760> pocket<01:03:46.240> table 01:03:47.430 --> 01:03:47.440 align:start position:0% on the air pocket table 01:03:47.440 --> 01:03:50.549 align:start position:0% on the air pocket table we<01:03:47.920> we<01:03:48.559> as<01:03:49.119> one<01:03:49.440> guy<01:03:50.000> is 01:03:50.549 --> 01:03:50.559 align:start position:0% we we as one guy is 01:03:50.559 --> 01:03:54.150 align:start position:0% we we as one guy is moved<01:03:51.440> and<01:03:51.760> this<01:03:52.960> moves<01:03:53.280> the<01:03:53.520> object 01:03:54.150 --> 01:03:54.160 align:start position:0% moved and this moves the object 01:03:54.160 --> 01:03:57.270 align:start position:0% moved and this moves the object like<01:03:54.480> just<01:03:54.720> like<01:03:55.039> this<01:03:55.680> but<01:03:56.000> as<01:03:56.240> a<01:03:56.400> guy<01:03:56.960> tried 01:03:57.270 --> 01:03:57.280 align:start position:0% like just like this but as a guy tried 01:03:57.280 --> 01:03:59.109 align:start position:0% like just like this but as a guy tried to<01:03:57.440> capture<01:03:57.920> this<01:03:58.160> object 01:03:59.109 --> 01:03:59.119 align:start position:0% to capture this object 01:03:59.119 --> 01:04:02.549 align:start position:0% to capture this object on<01:03:59.359> the<01:04:00.319> such<01:04:01.119> air<01:04:01.359> pocket<01:04:01.839> table 01:04:02.549 --> 01:04:02.559 align:start position:0% on the such air pocket table 01:04:02.559 --> 01:04:05.670 align:start position:0% on the such air pocket table but<01:04:02.960> other<01:04:03.359> guy<01:04:03.760> always<01:04:04.319> failed<01:04:05.039> because<01:04:05.520> of 01:04:05.670 --> 01:04:05.680 align:start position:0% but other guy always failed because of 01:04:05.680 --> 01:04:07.510 align:start position:0% but other guy always failed because of the<01:04:05.920> lack<01:04:06.240> of<01:04:06.480> the<01:04:06.640> recognition 01:04:07.510 --> 01:04:07.520 align:start position:0% the lack of the recognition 01:04:07.520 --> 01:04:09.990 align:start position:0% the lack of the recognition speed<01:04:07.920> of<01:04:08.160> human<01:04:08.559> eye<01:04:09.039> because<01:04:09.520> objects 01:04:09.990 --> 01:04:10.000 align:start position:0% speed of human eye because objects 01:04:10.000 --> 01:04:11.589 align:start position:0% speed of human eye because objects moving<01:04:10.400> like<01:04:10.640> this 01:04:11.589 --> 01:04:11.599 align:start position:0% moving like this 01:04:11.599 --> 01:04:14.710 align:start position:0% moving like this then<01:04:11.920> the<01:04:12.240> subject<01:04:13.200> can<01:04:14.079> catch 01:04:14.710 --> 01:04:14.720 align:start position:0% then the subject can catch 01:04:14.720 --> 01:04:17.349 align:start position:0% then the subject can catch which<01:04:15.039> point<01:04:15.359> is<01:04:15.520> appropriate<01:04:16.240> for<01:04:16.480> capturing 01:04:17.349 --> 01:04:17.359 align:start position:0% which point is appropriate for capturing 01:04:17.359 --> 01:04:17.990 align:start position:0% which point is appropriate for capturing always 01:04:17.990 --> 01:04:18.000 align:start position:0% always 01:04:18.000 --> 01:04:20.390 align:start position:0% always fail<01:04:18.880> then<01:04:19.200> okay<01:04:19.520> this<01:04:19.760> is<01:04:19.839> a<01:04:19.920> very<01:04:20.160> good 01:04:20.390 --> 01:04:20.400 align:start position:0% fail then okay this is a very good 01:04:20.400 --> 01:04:21.910 align:start position:0% fail then okay this is a very good example<01:04:20.960> for<01:04:21.119> me 01:04:21.910 --> 01:04:21.920 align:start position:0% example for me 01:04:21.920 --> 01:04:25.430 align:start position:0% example for me now<01:04:22.240> let's<01:04:22.559> design<01:04:23.039> the<01:04:23.200> robot<01:04:23.680> system<01:04:24.799> okay 01:04:25.430 --> 01:04:25.440 align:start position:0% now let's design the robot system okay 01:04:25.440 --> 01:04:28.710 align:start position:0% now let's design the robot system okay to<01:04:26.000> to<01:04:26.240> capture<01:04:26.720> this<01:04:27.599> object 01:04:28.710 --> 01:04:28.720 align:start position:0% to to capture this object 01:04:28.720 --> 01:04:31.510 align:start position:0% to to capture this object then<01:04:29.119> okay<01:04:29.359> this<01:04:29.520> is<01:04:29.599> the<01:04:29.760> second<01:04:30.160> level<01:04:31.200> and 01:04:31.510 --> 01:04:31.520 align:start position:0% then okay this is the second level and 01:04:31.520 --> 01:04:32.870 align:start position:0% then okay this is the second level and so 01:04:32.870 --> 01:04:32.880 align:start position:0% so 01:04:32.880 --> 01:04:36.549 align:start position:0% so uh<01:04:33.200> when<01:04:33.440> i<01:04:34.079> enjoyed<01:04:35.680> the 01:04:36.549 --> 01:04:36.559 align:start position:0% uh when i enjoyed the 01:04:36.559 --> 01:04:40.309 align:start position:0% uh when i enjoyed the pizza<01:04:37.039> in<01:04:37.200> italian<01:04:37.839> this<01:04:38.079> one<01:04:38.880> and<01:04:39.119> i<01:04:39.119> i 01:04:40.309 --> 01:04:40.319 align:start position:0% pizza in italian this one and i i 01:04:40.319 --> 01:04:44.150 align:start position:0% pizza in italian this one and i i just<01:04:40.640> by<01:04:40.960> chance<01:04:41.680> the<01:04:41.920> pizza<01:04:42.319> master<01:04:42.880> is 01:04:44.150 --> 01:04:44.160 align:start position:0% just by chance the pizza master is 01:04:44.160 --> 01:04:47.670 align:start position:0% just by chance the pizza master is is<01:04:44.480> manipulating<01:04:45.440> the<01:04:45.680> pizza<01:04:46.400> in<01:04:46.559> the<01:04:46.720> oven 01:04:47.670 --> 01:04:47.680 align:start position:0% is manipulating the pizza in the oven 01:04:47.680 --> 01:04:50.549 align:start position:0% is manipulating the pizza in the oven okay<01:04:48.160> then<01:04:49.039> they<01:04:49.200> are<01:04:49.280> using<01:04:49.839> just<01:04:50.240> very 01:04:50.549 --> 01:04:50.559 align:start position:0% okay then they are using just very 01:04:50.559 --> 01:04:51.670 align:start position:0% okay then they are using just very simple 01:04:51.670 --> 01:04:51.680 align:start position:0% simple 01:04:51.680 --> 01:04:54.950 align:start position:0% simple plate<01:04:52.720> and<01:04:53.039> then<01:04:53.520> with<01:04:53.760> the<01:04:54.000> law 01:04:54.950 --> 01:04:54.960 align:start position:0% plate and then with the law 01:04:54.960 --> 01:04:58.230 align:start position:0% plate and then with the law and<01:04:55.200> then<01:04:55.680> he<01:04:55.839> is<01:04:56.000> moving<01:04:57.280> this<01:04:57.599> part 01:04:58.230 --> 01:04:58.240 align:start position:0% and then he is moving this part 01:04:58.240 --> 01:05:01.029 align:start position:0% and then he is moving this part and<01:04:58.480> then<01:04:58.799> just<01:04:59.280> this<01:04:59.520> kind<01:04:59.839> of<01:05:00.000> motion<01:05:00.799> then 01:05:01.029 --> 01:05:01.039 align:start position:0% and then just this kind of motion then 01:05:01.039 --> 01:05:02.230 align:start position:0% and then just this kind of motion then the<01:05:01.280> pisa<01:05:01.760> is 01:05:02.230 --> 01:05:02.240 align:start position:0% the pisa is 01:05:02.240 --> 01:05:04.390 align:start position:0% the pisa is not<01:05:02.480> only<01:05:02.720> the<01:05:03.280> translation<01:05:04.000> more 01:05:04.390 --> 01:05:04.400 align:start position:0% not only the translation more 01:05:04.400 --> 01:05:05.750 align:start position:0% not only the translation more translating<01:05:05.119> motion 01:05:05.750 --> 01:05:05.760 align:start position:0% translating motion 01:05:05.760 --> 01:05:09.109 align:start position:0% translating motion but<01:05:06.000> also<01:05:06.319> rotating<01:05:07.599> okay<01:05:07.920> this<01:05:08.160> is<01:05:08.319> another 01:05:09.109 --> 01:05:09.119 align:start position:0% but also rotating okay this is another 01:05:09.119 --> 01:05:12.150 align:start position:0% but also rotating okay this is another good<01:05:09.359> example<01:05:10.559> and<01:05:10.960> i<01:05:11.359> design 01:05:12.150 --> 01:05:12.160 align:start position:0% good example and i design 01:05:12.160 --> 01:05:15.109 align:start position:0% good example and i design this<01:05:12.400> kind<01:05:12.640> of<01:05:12.880> logo<01:05:13.760> and<01:05:14.079> by<01:05:14.319> combining<01:05:14.960> the 01:05:15.109 --> 01:05:15.119 align:start position:0% this kind of logo and by combining the 01:05:15.119 --> 01:05:17.109 align:start position:0% this kind of logo and by combining the high<01:05:15.440> speed<01:05:15.839> vision<01:05:16.240> system 01:05:17.109 --> 01:05:17.119 align:start position:0% high speed vision system 01:05:17.119 --> 01:05:21.109 align:start position:0% high speed vision system and<01:05:17.440> we<01:05:17.599> can<01:05:17.920> manipulate<01:05:18.559> the<01:05:18.720> object<01:05:19.680> and 01:05:21.109 --> 01:05:21.119 align:start position:0% and we can manipulate the object and 01:05:21.119 --> 01:05:24.789 align:start position:0% and we can manipulate the object and more<01:05:21.520> than<01:05:22.079> human<01:05:22.960> and<01:05:23.200> more<01:05:23.680> faster<01:05:24.160> than 01:05:24.789 --> 01:05:24.799 align:start position:0% more than human and more faster than 01:05:24.799 --> 01:05:25.589 align:start position:0% more than human and more faster than human 01:05:25.589 --> 01:05:25.599 align:start position:0% human 01:05:25.599 --> 01:05:29.589 align:start position:0% human okay<01:05:25.839> this<01:05:26.079> is<01:05:26.160> a<01:05:26.319> sad<01:05:26.640> example<01:05:28.160> then 01:05:29.589 --> 01:05:29.599 align:start position:0% okay this is a sad example then 01:05:29.599 --> 01:05:33.109 align:start position:0% okay this is a sad example then i<01:05:29.920> realized<01:05:31.200> many<01:05:31.599> people<01:05:32.000> ask<01:05:32.319> me 01:05:33.109 --> 01:05:33.119 align:start position:0% i realized many people ask me 01:05:33.119 --> 01:05:37.990 align:start position:0% i realized many people ask me fat<01:05:33.359> supplication<01:05:35.039> okay<01:05:36.000> so<01:05:36.240> actually 01:05:37.990 --> 01:05:38.000 align:start position:0% fat supplication okay so actually 01:05:38.000 --> 01:05:41.270 align:start position:0% fat supplication okay so actually there<01:05:38.240> is<01:05:39.359> no<01:05:39.680> exact 01:05:41.270 --> 01:05:41.280 align:start position:0% there is no exact 01:05:41.280 --> 01:05:44.630 align:start position:0% there is no exact practical<01:05:41.760> application 01:05:44.630 --> 01:05:44.640 align:start position:0% 01:05:44.640 --> 01:05:48.789 align:start position:0% okay<01:05:45.280> maybe<01:05:45.599> the<01:05:45.839> robot<01:05:46.559> can 01:05:48.789 --> 01:05:48.799 align:start position:0% okay maybe the robot can 01:05:48.799 --> 01:05:52.470 align:start position:0% okay maybe the robot can can<01:05:49.119> capture<01:05:49.599> fly<01:05:50.640> can<01:05:50.880> capture<01:05:51.359> mosquitoes 01:05:52.470 --> 01:05:52.480 align:start position:0% can capture fly can capture mosquitoes 01:05:52.480 --> 01:05:56.309 align:start position:0% can capture fly can capture mosquitoes but 01:05:56.309 --> 01:05:56.319 align:start position:0% 01:05:56.319 --> 01:06:00.150 align:start position:0% then<01:05:56.960> okay<01:05:57.280> i<01:05:57.520> think<01:05:57.839> about<01:05:58.400> okay<01:05:58.720> now 01:06:00.150 --> 01:06:00.160 align:start position:0% then okay i think about okay now 01:06:00.160 --> 01:06:05.190 align:start position:0% then okay i think about okay now i<01:06:00.400> try<01:06:00.720> to<01:06:03.119> design<01:06:03.760> and<01:06:03.920> develop 01:06:05.190 --> 01:06:05.200 align:start position:0% i try to design and develop 01:06:05.200 --> 01:06:08.309 align:start position:0% i try to design and develop something<01:06:06.240> which<01:06:06.480> is<01:06:06.640> very<01:06:07.200> benefit 01:06:08.309 --> 01:06:08.319 align:start position:0% something which is very benefit 01:06:08.319 --> 01:06:11.589 align:start position:0% something which is very benefit provides<01:06:08.799> some<01:06:09.039> benefit<01:06:09.760> to<01:06:09.920> the<01:06:10.079> human 01:06:11.589 --> 01:06:11.599 align:start position:0% provides some benefit to the human 01:06:11.599 --> 01:06:14.710 align:start position:0% provides some benefit to the human then<01:06:11.920> okay<01:06:12.880> the<01:06:13.119> good<01:06:13.440> application<01:06:14.160> field 01:06:14.710 --> 01:06:14.720 align:start position:0% then okay the good application field 01:06:14.720 --> 01:06:19.670 align:start position:0% then okay the good application field is<01:06:14.960> the<01:06:15.119> medical<01:06:15.839> interfere<01:06:17.039> because<01:06:17.599> the 01:06:19.670 --> 01:06:19.680 align:start position:0% is the medical interfere because the 01:06:19.680 --> 01:06:23.589 align:start position:0% is the medical interfere because the stiffness<01:06:21.680> stiffness<01:06:22.400> is<01:06:22.640> very<01:06:22.960> important 01:06:23.589 --> 01:06:23.599 align:start position:0% stiffness stiffness is very important 01:06:23.599 --> 01:06:25.029 align:start position:0% stiffness stiffness is very important for<01:06:23.839> medical<01:06:24.319> area 01:06:25.029 --> 01:06:25.039 align:start position:0% for medical area 01:06:25.039 --> 01:06:28.549 align:start position:0% for medical area if<01:06:25.200> you<01:06:25.440> visit<01:06:26.000> the<01:06:26.960> medical<01:06:27.440> doctor 01:06:28.549 --> 01:06:28.559 align:start position:0% if you visit the medical doctor 01:06:28.559 --> 01:06:31.829 align:start position:0% if you visit the medical doctor then<01:06:29.440> some<01:06:29.680> disease<01:06:30.640> then<01:06:30.880> medical<01:06:31.440> doctor 01:06:31.829 --> 01:06:31.839 align:start position:0% then some disease then medical doctor 01:06:31.839 --> 01:06:33.270 align:start position:0% then some disease then medical doctor often<01:06:32.160> touch<01:06:32.480> your<01:06:32.640> body 01:06:33.270 --> 01:06:33.280 align:start position:0% often touch your body 01:06:33.280 --> 01:06:35.829 align:start position:0% often touch your body by<01:06:33.520> their<01:06:33.839> hand<01:06:34.319> this<01:06:34.559> is<01:06:34.720> palpation 01:06:35.829 --> 01:06:35.839 align:start position:0% by their hand this is palpation 01:06:35.839 --> 01:06:37.510 align:start position:0% by their hand this is palpation so-called<01:06:36.400> palpation 01:06:37.510 --> 01:06:37.520 align:start position:0% so-called palpation 01:06:37.520 --> 01:06:41.029 align:start position:0% so-called palpation then<01:06:37.839> medical<01:06:38.319> doctor<01:06:38.799> try<01:06:39.119> to<01:06:39.359> find<01:06:40.319> software 01:06:41.029 --> 01:06:41.039 align:start position:0% then medical doctor try to find software 01:06:41.039 --> 01:06:43.670 align:start position:0% then medical doctor try to find software is<01:06:41.280> there<01:06:41.520> any<01:06:42.160> stiff<01:06:42.559> point<01:06:42.960> or<01:06:43.119> not 01:06:43.670 --> 01:06:43.680 align:start position:0% is there any stiff point or not 01:06:43.680 --> 01:06:45.270 align:start position:0% is there any stiff point or not especially<01:06:44.319> this<01:06:44.559> part 01:06:45.270 --> 01:06:45.280 align:start position:0% especially this part 01:06:45.280 --> 01:06:48.390 align:start position:0% especially this part and<01:06:45.760> stomach<01:06:46.319> and<01:06:46.480> so<01:06:46.720> forth<01:06:47.760> and<01:06:48.079> so 01:06:48.390 --> 01:06:48.400 align:start position:0% and stomach and so forth and so 01:06:48.400 --> 01:06:51.029 align:start position:0% and stomach and so forth and so therefore<01:06:48.960> stiffness<01:06:49.839> measurement<01:06:50.480> is<01:06:50.720> very 01:06:51.029 --> 01:06:51.039 align:start position:0% therefore stiffness measurement is very 01:06:51.039 --> 01:06:51.990 align:start position:0% therefore stiffness measurement is very important 01:06:51.990 --> 01:06:52.000 align:start position:0% important 01:06:52.000 --> 01:06:55.109 align:start position:0% important in<01:06:52.160> the<01:06:52.319> medical<01:06:53.039> diagnosis<01:06:54.640> then 01:06:55.109 --> 01:06:55.119 align:start position:0% in the medical diagnosis then 01:06:55.119 --> 01:06:58.150 align:start position:0% in the medical diagnosis then i<01:06:55.359> have<01:06:55.760> the<01:06:55.920> technology<01:06:56.880> of<01:06:57.280> the<01:06:57.520> high<01:06:57.760> speed 01:06:58.150 --> 01:06:58.160 align:start position:0% i have the technology of the high speed 01:06:58.160 --> 01:06:59.109 align:start position:0% i have the technology of the high speed vision 01:06:59.109 --> 01:06:59.119 align:start position:0% vision 01:06:59.119 --> 01:07:01.349 align:start position:0% vision i<01:06:59.359> have<01:06:59.599> a<01:06:59.760> technology<01:07:00.480> of<01:07:00.799> high<01:07:01.039> speed 01:07:01.349 --> 01:07:01.359 align:start position:0% i have a technology of high speed 01:07:01.359 --> 01:07:02.549 align:start position:0% i have a technology of high speed actuator 01:07:02.549 --> 01:07:02.559 align:start position:0% actuator 01:07:02.559 --> 01:07:05.910 align:start position:0% actuator if<01:07:02.720> you<01:07:02.880> want<01:07:03.119> to<01:07:03.440> get<01:07:04.079> stiffness<01:07:05.119> okay 01:07:05.910 --> 01:07:05.920 align:start position:0% if you want to get stiffness okay 01:07:05.920 --> 01:07:08.789 align:start position:0% if you want to get stiffness okay you<01:07:06.160> need<01:07:06.480> some<01:07:06.720> actuation<01:07:07.520> you<01:07:08.079> you<01:07:08.319> have<01:07:08.559> to 01:07:08.789 --> 01:07:08.799 align:start position:0% you need some actuation you you have to 01:07:08.799 --> 01:07:10.309 align:start position:0% you need some actuation you you have to give<01:07:09.119> some<01:07:09.440> force 01:07:10.309 --> 01:07:10.319 align:start position:0% give some force 01:07:10.319 --> 01:07:13.829 align:start position:0% give some force and<01:07:10.559> then<01:07:11.440> you<01:07:11.920> observe<01:07:12.640> how<01:07:12.960> the<01:07:13.119> deformation 01:07:13.829 --> 01:07:13.839 align:start position:0% and then you observe how the deformation 01:07:13.839 --> 01:07:14.870 align:start position:0% and then you observe how the deformation looks<01:07:14.160> right 01:07:14.870 --> 01:07:14.880 align:start position:0% looks right 01:07:14.880 --> 01:07:18.549 align:start position:0% looks right then<01:07:15.200> you<01:07:15.359> can<01:07:15.520> obtain<01:07:16.079> the<01:07:16.319> stiffness<01:07:17.839> so 01:07:18.549 --> 01:07:18.559 align:start position:0% then you can obtain the stiffness so 01:07:18.559 --> 01:07:22.630 align:start position:0% then you can obtain the stiffness so i<01:07:18.960> realized<01:07:20.000> i<01:07:20.240> have<01:07:21.039> these<01:07:21.359> two<01:07:21.599> technology 01:07:22.630 --> 01:07:22.640 align:start position:0% i realized i have these two technology 01:07:22.640 --> 01:07:25.990 align:start position:0% i realized i have these two technology okay<01:07:23.440> why<01:07:23.680> not<01:07:24.160> you<01:07:24.400> i<01:07:25.119> applied<01:07:25.760> this 01:07:25.990 --> 01:07:26.000 align:start position:0% okay why not you i applied this 01:07:26.000 --> 01:07:26.870 align:start position:0% okay why not you i applied this technology 01:07:26.870 --> 01:07:26.880 align:start position:0% technology 01:07:26.880 --> 01:07:30.589 align:start position:0% technology medical<01:07:27.359> area<01:07:28.640> so<01:07:28.960> that<01:07:29.280> is 01:07:30.589 --> 01:07:30.599 align:start position:0% medical area so that is 01:07:30.599 --> 01:07:33.190 align:start position:0% medical area so that is 2005<01:07:32.160> so<01:07:32.559> the 01:07:33.190 --> 01:07:33.200 align:start position:0% 2005 so the 01:07:33.200 --> 01:07:37.109 align:start position:0% 2005 so the during<01:07:33.599> the<01:07:33.760> last<01:07:34.319> six<01:07:34.720> years<01:07:35.920> i 01:07:37.109 --> 01:07:37.119 align:start position:0% during the last six years i 01:07:37.119 --> 01:07:40.390 align:start position:0% during the last six years i involved<01:07:38.559> heavily<01:07:39.440> inside 01:07:40.390 --> 01:07:40.400 align:start position:0% involved heavily inside 01:07:40.400 --> 01:07:42.950 align:start position:0% involved heavily inside and<01:07:40.559> so<01:07:40.799> that<01:07:40.960> i'm<01:07:41.200> sifting<01:07:41.760> my<01:07:42.160> area<01:07:42.640> from 01:07:42.950 --> 01:07:42.960 align:start position:0% and so that i'm sifting my area from 01:07:42.960 --> 01:07:43.829 align:start position:0% and so that i'm sifting my area from robotics 01:07:43.829 --> 01:07:43.839 align:start position:0% robotics 01:07:43.839 --> 01:07:47.410 align:start position:0% robotics medical<01:07:44.319> here<01:07:45.119> okay<01:07:45.440> this<01:07:45.680> is<01:07:45.839> my<01:07:46.079> whole<01:07:46.400> story 01:07:47.410 --> 01:07:47.420 align:start position:0% medical here okay this is my whole story 01:07:47.420 --> 01:07:48.630 align:start position:0% medical here okay this is my whole story [Music] 01:07:48.630 --> 01:07:48.640 align:start position:0% [Music] 01:07:48.640 --> 01:07:52.230 align:start position:0% [Music] i'm<01:07:48.880> really<01:07:49.520> so<01:07:49.760> happy<01:07:50.079> right<01:07:50.319> now 01:07:52.230 --> 01:07:52.240 align:start position:0% i'm really so happy right now 01:07:52.240 --> 01:07:53.670 align:start position:0% i'm really so happy right now it's<01:07:52.400> really<01:07:52.720> really<01:07:52.960> interesting<01:07:53.440> it's<01:07:53.599> a 01:07:53.670 --> 01:07:53.680 align:start position:0% it's really really interesting it's a 01:07:53.680 --> 01:07:55.910 align:start position:0% it's really really interesting it's a very<01:07:54.160> nice<01:07:54.480> story<01:07:54.880> how<01:07:55.039> it<01:07:55.200> all<01:07:55.359> kind<01:07:55.520> of<01:07:55.599> goes 01:07:55.910 --> 01:07:55.920 align:start position:0% very nice story how it all kind of goes 01:07:55.920 --> 01:07:56.390 align:start position:0% very nice story how it all kind of goes yeah 01:07:56.390 --> 01:07:56.400 align:start position:0% yeah 01:07:56.400 --> 01:07:59.589 align:start position:0% yeah i<01:07:56.559> saw<01:07:56.799> that<01:07:57.039> things<01:07:57.920> if<01:07:58.079> you<01:07:58.240> combined<01:07:59.359> i 01:07:59.589 --> 01:07:59.599 align:start position:0% i saw that things if you combined i 01:07:59.599 --> 01:08:03.910 align:start position:0% i saw that things if you combined i i<01:08:00.079> really<01:08:00.400> want<01:08:00.640> to<01:08:00.880> show<01:08:01.839> this<01:08:02.160> by<01:08:02.400> video<01:08:02.880> so 01:08:03.910 --> 01:08:03.920 align:start position:0% i really want to show this by video so 01:08:03.920 --> 01:08:06.710 align:start position:0% i really want to show this by video so faster<01:08:04.400> you<01:08:04.559> can<01:08:05.200> you<01:08:05.359> can<01:08:05.599> see<01:08:05.920> my<01:08:06.160> homepage 01:08:06.710 --> 01:08:06.720 align:start position:0% faster you can you can see my homepage 01:08:06.720 --> 01:08:08.309 align:start position:0% faster you can you can see my homepage but<01:08:06.960> it's<01:08:07.119> not<01:08:07.359> that<01:08:07.680> old 01:08:08.309 --> 01:08:08.319 align:start position:0% but it's not that old 01:08:08.319 --> 01:08:13.670 align:start position:0% but it's not that old so<01:08:08.640> the 01:08:13.670 --> 01:08:13.680 align:start position:0% 01:08:13.680 --> 01:08:15.510 align:start position:0% that<01:08:13.839> would<01:08:14.079> be<01:08:14.240> great<01:08:14.640> because<01:08:14.880> we<01:08:15.039> can<01:08:15.200> add 01:08:15.510 --> 01:08:15.520 align:start position:0% that would be great because we can add 01:08:15.520 --> 01:08:16.709 align:start position:0% that would be great because we can add them 01:08:16.709 --> 01:08:16.719 align:start position:0% them 01:08:16.719 --> 01:08:20.960 align:start position:0% them sorry<01:08:18.000> no<01:08:18.239> problem