Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 4 doc

... because of theirphylogenetical and morphological similarities with early hominids [35]. Theycompared spatio-temporal characteristics of natural Bp and Qp walking over-ground, especially of hind-limb ... rufescens: Lagomor-pha), small tailless mammals living in the steppes of central Asia. They ownbody weights of 15 0-2 00 g, crown-rump-lengths of 140 mm and heights of theCoM over ground of 45 mm. Kinematics ... noted between Bp and Qp walking [42 ].Inactivation of the M1 [43 ] and SMA by microinjection of muscimol into eacharea [44 ] also resulted, respectively, in focal and general impairments of theBp...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 1 docx

... 2005936106ISBN-10 4- 4 3 1-2 41 6 4- 7 Springer-Verlag Tokyo Berlin Heidelberg New YorkISBN-13 97 8 -4 -4 3 1-2 41 6 4- 5 Springer-Verlag Tokyo Berlin Heidelberg New YorkPrinted on acid-free paper© Springer-Verlag Tokyo ... School of Information SystemsUniversity of Electro-Communications 1-5 -1 Chofu-ga-oka, Chofu, Tokyo 18 2-8 585, JapanKazuo TsuchiyaDepartment of Aeronautics and AstronauticsGraduate School of EngineeringKyoto ... cyclicoperation of human legs. The horizontal velocity of the foot necessarily oscil- Hiroshi Kimura, Kazuo Tsuchiya,Akio Ishiguro, Hartmut Witte (Editors) Adaptive Motion of Animals and Machines With 241 ...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 8 docx

... International Journal of Control, 40 (1), pp.10 7-1 19. 4. Miura, H., and Shimoyama, I., 19 84, “Dynamic Walk of a Biped,” Int. J. of Robotics Research, 3(2), pp.6 0-7 4. 5. Furusho, j., and Masubuchi, ... 1993, “Dynamics and control of bipedal locomotion,” Journal of Theoretical Biology, 163, pp.27 7-3 14. 14. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T., 1998, “The Development of Honda Humanoid ... gravitational and inertial forceare utilized for motion. Such kind of walking is called ”ballistic walking”.Ballistic walking is supposed to be a human walking model suggested byMochon and McMahon...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 9 docx

... use of the concept of DFC and the entrainment phe-nomena of PDW, we proposed a new control method of Quasi-PDW. Con-cretely, the proposed method uses (k-1)-th step’s trajectory of the walkingas ... is the one of character of PDW, we provide a new control method of Quasi-Passive-Dynamic-Walking. Concretely, at ﬁrst, for the sake of the continuouswalking of robot and taking place of the entrainment ... the walking for the sake of its continuouswalking and taking place of the entrainment phenomena”. 4. 1 Our previous control method of quasi-PDWDiscrete-DFC based control method As an example of...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 13 docx

... combination of reﬂexes. In Procceedings of the International Sympo-sium on adaptive Motion of Animals and Machines, Montreal.18. Ilg, W., Albiez, J., and Jedele, H. (1998a). A biologically inspired adaptive control ... Biologically inspired dynamic walking onirregular terrain - adaptation at spinal cord and brain stem. In InternationalSymposium on Adaptive Motion of Animals and Machines, Montreal.22. Kimura, ... neural networks for a four-legged walking ma-chine. In Proceedings of the 8th International Conference on Artiﬁcial NeuralNetworks, pages 45 5 46 0, Skoevde.19. Ilg, W., Berns, K., Jedele, H., Albiez,...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 2 ppsx

... model.Mathematical Biosciences 52: 24 1-2 606. McGeer, T., 1993, Dynamics and control of bipedal locomotion. Journal of Theoretical Biology, 163:27 7-3 14. 7. Blickhan R, Full RJ, 1987, Locomotion energetics of ... (1998) Walknet - a biologically inspired network to control six-legged walking. Neural Networks11, 143 5- 144 7Robust Behaviour of the Human Leg 15Fig. 8. Elastic beams under torsion and bending ... properties of the environment as wellas those of the walking system. Despite these experimental and theoretical 14 Reinhard Blickhan et al. Fig. 7. Neuronal network for robust control of a spring-mass...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 3 pptx

... possibility of employing state -of- the-art interventional recordingtechniques and cellular-to-systems level of neuroscientiﬁc analysis to the study of locomotion. We think that the study of posture and ... 8:23 3-6 13. Delcomyn F. 1980 Neural basis of rhythmic behavior in animals. Science.210 :49 2 -4 98. 4. E.R. Kandel, J.H. Schwartz, T.M. Jessell, (Eds.) Principles of Neural Science,McGraw-Hill/Appleton ... walk.Fig. 4. Gait patterns of turning walk at slow speed a) and high speed b).crucially depending on their walking velocities and loads, animals could gen-erate a great number of diversities of walking...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 5 pdf

... gen-erating bounding running, we extended the bounding controller presented in[12] to allow for asymmetric three- and four-beat gaits. The half-bound, [4] , and the rotary gallop [4, 10], expand ... marsupialis) and other non-cursorial mammals. J Zool (Lond) 165:30 3-3 15. 4. Fischer M.S. & Lehmann R.(1998): Application of cineradiography for the metric and kinematic study of in-phase ... Holmes P. and Koditschek D. E. 2003. A Sim-ply Stabilized Running Model. SIAM J. on Applied Dynamical Systems 2(2):18 7- 218. 4. Hildebrand M. 1977. Analysis of Asymmetrical Gaits. J. of Mammalogy58(31):13 1-1 56.5....

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 6 ppsx

... light of these facts, this study is intended to deal with the interactiondynamics between control and body systems, and to analytically and syn-thetically discuss a well-balanced relationship between ... a set of design principles for adaptive motion. The principle of ecological balance, for example, tells us that given a particu-98 Rolf Pfeiferlean (Collins et al. , 2001)). This kind of walking ... dissociation of genotypic and phenotypic complexity in artiﬁcial ontogeny. In L. Spector et al. (eds.). Proc. of the Sixth European Conference on Artiﬁcial Life, 40 1 -4 12. 4. Collins, S.H., Wisse, M., and...

Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 7 ppt

... natural walking in order to improve the walking eﬃciency.As a control method of the natural dynamics of the biped mechanism,Ono et al. proposed a self-excitation control of a 2-degree -of- freedom ... of aBiped Mechanism with Bent KneeKyosuke Ono and Xiaofeng YaoTokyo Institute of Technology, Department of Mechanical and ControlEngineering, 2-1 2-1 Ookayama, Meguro-ku, Tokyo, Japan 15 2-8 552,ono@mech.titech.ac.jpAbstract. ... possibility of imple-mentation of two-legged walking type locomotion. The basic movementconsists of left-right swaying of the center of gravity in synchronism withby lifting and forwarding one of the...

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