dhawan hk huang and dae shik kim
adaptive motion of animals and machines - hiroshi kimura et al (eds)
... understand the principles of animals’ remarkable ability for adaptive motion and to transfer such abilities to a robot Up to now, mechanisms for generation and control of stereotyped motions and ... science and engineering are merged Tokyo, Kyoto, Nagoya (Japan) and Ilmenau (Germany) November 2005 Hiroshi Kimura Kazuo Tsuchiya Akio Ishiguro Hartmut Witte Contents Part Motion Generation and Adaptation ... Common and different control properties of Qp and Bp locomotion Similarity and difference in the kinematics of lower limbs during Bp walking between our monkey model and the human ...
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Báo cáo hóa học: " Computer simulations of neural mechanisms explaining upper and lower limb excitatory neural coupling Huang and Ferris" docx
... gains, excitatory and inhibitory interlimb coupling gains, and coupling geometry We first simulated the simplest case, a single CPG, and then expanded the model to have two CPGs and lastly four ... gains, and Huang and Ferris Journal of NeuroEngineering and Rehabilitation 2010, 7:59 http://www.jneuroengrehab.com/content/7/1/59 ipsilateral (h ip ) gains We tested both excitatory and inhibitory ... rhythmic outputs without rhythmic inputs and they can entrain their rhythmic outputs to sensory feedback Experimental data on both animals and in humans © 2010 Huang and Ferris; licensee BioMed Central...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 1 docx
... understand the principles of animals’ remarkable ability for adaptive motion and to transfer such abilities to a robot Up to now, mechanisms for generation and control of stereotyped motions and ... science and engineering are merged Tokyo, Kyoto, Nagoya (Japan) and Ilmenau (Germany) November 2005 Hiroshi Kimura Kazuo Tsuchiya Akio Ishiguro Hartmut Witte Contents Part Motion Generation and Adaptation ... Common and different control properties of Qp and Bp locomotion Similarity and difference in the kinematics of lower limbs during Bp walking between our monkey model and the human ...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 2 ppsx
... take up and push off Furthermore the amplitude and the time course of the angular velocity is rather similar in the different tasks Almost independent of the load and thus of reaction force and muscle ... (R) and numbered from front to rear Left and right legs on each segment (e.g., L1 and R1) always have a phase value of approximately 0.5 The phase value of adjacent ipsilateral legs (e.g., L1 and ... running and hopping J Biomech 22:1217 - 1227 12 G¨nther, M., Sholukha, V., Blickhan, R., in prep, Joint stiffness of the ankle u and the knee in running - an inverse dynamic analysis and forward...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 3 pptx
... the limb and the oscillator that controls it The success of this kind of dynamic control is seen in the movies of Tekken (cf H Kimura presentation), as it walks up and down inclines and over ... implementation of the robotic locomotion remarkably smooth and adaptive to most conditions including irregular terrain and random perturbations Kimura’s dynamic integration of sensory input with a ... system and its control system so as to elaborate bipedal (Bp) standing and Bp walking [1] The musculoskeletal system comprises multiple motor or movement segments such as head, neck, trunk, fore- and...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 4 doc
... fastigiospinal and fastigio-tecto-RS fibers [2] In both cats [4,22] and monkeys [23,24], command signals related to righting and walking are mediated to the spinal cord by the RS and VS pathways Command ... rapid and smooth succession of targeting, orienting, and righting Targeting requires the coordinated activity of head, neck, trunk and fore-limbs, and righting that of head, neck, trunk and hind-limb ... limbs during Bp walking and running, and found complex interaction between the vertical and horizontal forces needed for propulsion and equilibrium [39] Patla studied and discussed the importance...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 5 pdf
... Leg and Leg in stance Constant commanded torques until 0o Case 3: Leg in stance, Leg in flight Leg is commanded as in Case and Leg as in Case Case 4: Leg in flight, Leg in stance Leg is commanded ... Bongard and Pfeifer, 2001; Hara and Pfeifer, 2000a; Lipson and Pollack, 1999; Pfeifer, 1996; Pfeifer and Scheier, 1999; Pfeifer, 2003) Our own approach over the six years or so has been to try and ... pitch rates and for forward speeds 1.5 and 4m/s The apex height is 0.35 m right leg is in stance, and vice versa In the regular bounding state machine these asymmetric states are ignored and state...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 6 ppsx
... hill, climb a tree by winding and move on very slippery floor [1] Snake does not have hands and legs, however it has many functions It is useful to consider and understand the mechanism of the gait ... control and body systems[4][5] Most of them, however, have mainly focused on automatically creating both control and body systems, and thus have paid less attention to gain an understanding of ... of which has two legs, i.e., right and left legs For simplicity, the right and left legs of each body segment are allowed to move in phase, and the duty factor and trajectory of all the legs are...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 7 ppt
... Locomotor and Manipulator), Oxford University Press, 1993 B Klaassen and K Paap, GMD-SNAKE2: A Snake-Like Robot Driven by Wheels and a Method for Motion Control, Proc IEEE Int Conf on Robotics and ... Robots and Systems, pp 1552-1557, 2001 10 F Matsuno and K Mogi, Redundancy Controllable System and Control of Snake Robot with Redundancy based on Kinematic Model, Proc IEEE Conf on Decision and ... Locomotion and GA based Motion Planning for Transition of Locomotion Modes of a 3-dimensional Snake-like Robot, Proc IEEE Int Conf on Robotics and Automation, pp 1507-1512, 2002 G S Chirikijian and...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 8 docx
... transportable and easy to handle biped, we (intuitively) put the maximum total weight on kg Regarding the amount Design and Construction of MIKE 149 (and weight) of the electrical and mechanical ... and lightweight and need no extra gas supply for internal consumption, but are not sensitive and accurate enough for our application We used the directly controlled principle, as small size and ... desired angles of the hip and knee joints at the end of the swing phase are set as θ1e = −20 [deg] and θ2e = [deg], respectively Tswg1 and Tswg2 are set to 0.2 [sec], and 0.05 [sec] Throughout...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 9 docx
... centrifugal and Colioris term, and g(θ, α) is the gravity term See [4] or [6] in detail If we assume that a transition of the support leg and the swing leg occurs instantaneously and Motion Generation and ... Tswg2min = Tswg2 A = A + random perturbation B = B + random perturbation Tswg2 = Tswg2 + random perturbation The simulation results are shown in Fig Figures (a), (b) and (c) show the time courses ... controller and of the body, we investigated different systems of coupled oscillators that can produce the typical swimming and walking gaits of the salamander Since the exact organization of the salamander’s...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 10 pps
... (Ebody = 1.0 and Elimb = 0.005), and walking is generated when both body and limb CPGs are activated (Ebody = 1.0 and Elimb = 1.0) The simulation results show that only configurations A and B, i.e ... aquatic and terrestrial gaits of a simulated salamander Biological Cybernetics, 85(5):331– 348, 2001 I Delvolv´, T Bem, and J.-M Cabelguen Epaxial and limb muscle activity e during swimming and terrestrial ... Sz´kely and G Cz´h Organization of locomotion In Frog Neurobiology, a e e Handbook, pages 765–792 Springer Verlag, Berlin, 1976 M Wheatley, M Edamura, and R.B Stein A comparison of intact and in-vitro...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 11 ppsx
... (kj6 − qj )) ˙ βj = cj qj (2) where αj and βj the torque exerted by elastic and viscous element around the j th joint, qj is the j th joint angle, and kj1∼6 and cj are coefficients defining the passive ... by the neurons, and the posture and locomotion is functionally integrated by them The framework of the proposed model may be biologically feasible and similar representation and integration of ... Quadruped Robot 219 and an ankle pitch joint The hip pitch joint, knee pitch joint and hip yaw joint are activated by DC motors of 20, 20 and [W] through gear ratio of 15.6, 18.8 and 84, respectively...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 13 docx
... thereby requiring compensatory postural and gait adjustments to prevent stumbling and falling, and reestablish smooth and stable locomotion [5, 19] Tripping and slipping perturbations commonly occur ... head and keep the head stable in space [26] Cutaneous and muscle afferents, which originate from both the trailing and leading limbs, contribute to the control of SW and ST phases of the limbs, and ... pages 400–407, Zurich 20 Kandel, E., Schwartz, J., and Jessell, T M (2000) Principles of Neural Science McGraw-Hill, 4th ed edition 246 Jan Albiez et al 21 Kimura, H and Fukuoka, Y (2000) Biologically...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 14 potx
... 2/3 power law and piecewise planar movement segmentation, and how a parsimonious explanation of those effects can be obtained Studying handwriting and 2D drawing movements, Viviani and Terzuolo ... [11, 12] how to generate and combine primitives in a principled and autonomous way, and how such an approach generalizes to complex movement systems, like human arms and legs Thus, a key research ... Robotics and Automation, Raleigh, North Carolina, 1987 18 F A Mussa-Ivaldi and E Bizzi, ”Learning Newtonian mechanics,” in Selforganization, Computational Maps, and Motor Control, P Morasso and V...
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Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 15 pdf
... patterns and exploit inter-segmental dynamics to provide simple and efficient control P8 The duration and the pattern of available visual information influence accuracy and precision of local and global ... Patla and Rietdyk, 1993), researchers have also examined the nature of the contribution of visual and proprioceptive sensory systems to adaptive locomotion (Patla, 1998; Sorensen, Hollands and ... perception and action Progress in Brain Research, 95:317-337 16 Mohagheghi, A.A., Moraes, R and Patla, A.E (2003) The effects of distant and on-line visual information on the control approach phase and...
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huang and stoll-the components of the bid-ask spread - a general approach
... Amihud and Mendelson (1980), Demsetz (1968), Ho and Stoll (1981, 1983), and Stoll (1978) emphasize the inventory holding costs of liquidity suppliers Copeland and Galai (1983), Easley and O’Hara ... number of ways: to compare dealer and auction markets [AffleckGraves, Hegde, and Miller (1994), Jones and Lipson (1995), Lin, Sanger, and Booth (1995a), Porter and Weaver (1995)], to analyze the ... processing and inventory components by arguing that π = 0.5 and δ = 0.0 for order processing and π > 0.5 and δ = 0.5 for inventory holding, but this decomposition is ad hoc George, Kaul, and Nimalendran...
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Inorganic Semiconductors for Light-emitting Diodes-E. Fred Schubert, Thomas Gessmann, and Jong Kyu Kim
... between two molecules M and N jMNi and jM*Ni are the ground- and excited-state curves rMÀN stands for the intermolecular distance Eexciton and Eexciplex are the exciton and exciplex energy levels, ... divided by 2p, k is the carrier wave number, and EV and EC are the valence and conduction band-edge energies, respectively The requirement of energy and momentum conservation leads to further insight ... I and the remaining four are type II (The heterojunctions between PFB and TFB as well as between F8 and F8BT are effectively type I because of the near-degeneracy of the LUMOs of PFB and TFB and...
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