... interaction
dynamics between control and body systems, and to analytically and syn-
thetically discuss a well-balanced relationship between the dynamics of these
two systems. More specifically, the aim of this ... a set of design principles for adaptive motion.
The principle of ecological balance, for example, tells us that given a particu-
98 Rolf Pfeifer
lean (Collins et...
... Dynamics and control of bipedal locomotion, J. Theor. Biol.
163, 27 7-3 14.
21 . van der Linde, R. Q., 1999, Passive bipedal walking with phasic muscle con-
traction, Biol. Cybern. 81, 22 7 -2 37.
22 . Raibert, ... University
Kitashirakawa-Oiwakecho, Sakyo, Kyoto 60 6-8 5 02, Japan
2
Department of Mechanical Engineering, Faculty of Science and Technology,
Keio University,...
... simplest walking model: sta-
bility, complexity, and scaling, J. of Biomechanical Eng., 120 :28 1 -2 88
2. Grillner S, Wall´en P. 1985 Central pattern generators for locomotion, with
special reference ... possibility of employing state -of- the-art interventional recording
techniques and cellular-to-systems level of neuroscientific analysis to the study of
locomotion. We think th...
... fastigiofugal fibers
projecting contralaterally include fastigio-RS, fastigio-VS, fastigiospinal and
fastigio-tecto-RS fibers [2] . In both cats [4 ,22 ] and monkeys [23 ,24 ], command
signals related ... because of their
phylogenetical and morphological similarities with early hominids [35]. They
compared spatio-temporal characteristics of natural Bp and Qp walking over-
ground, es...
... spring-mass model for running and hopping. - J
Biomech 22 (11/ 12) : 121 7-1 22 7.
11. Lee C.R., Farley C. (1998): Determinant of the center of mass in human walking
and running. - JexpBiol201(pt 21 ): 29 3 5 -2 944.
12. ... Hildebrand M.(1965): Symmetrical gaits of horses. – Science 150: 70 1-7 08.
2. Hildebrand M.(1977): Analysis of asymmetrical gaits. –JMamm5...
... two-DOF
link system. The basic equation becomes
M2
11
M2
12
M2
12
M2
22
¨
θ
1
¨
θ
2
+
0 C2
12
−C2
12
0
˙
θ
1
˙
θ
2
+
K2
1
K2
2
=0 (5)
where the elements M2
ij
,C2
ij
and K2
ij
of ... 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 con...
... θ
3
Appendix 3
M2
11
= I
1
+ m
1
a
2
1
+ m
2
l
2
1
M2
12
= m
2
a
2
l
1
cos(θ
2
− θ
1
)
M2
22
= I
2
+ m
2
a
2
2
C2
12
= −m
2
a
2
l
1
sin(θ
2
− θ
1
)
K2
1
=(m
1
a
1
+ m
2
l
1
)g sin θ
1
K2
2
= m
2
a
2
g sin ... l
1
(m
2
v
2x
+ m
3
v
3x
)}cos θ
1
+{a
1
m
1
v
1y
+ l
1
(m
2
v
2y
+ m
3
v
3y
)}sin θ
1
f
2
(θ
2
,
˙
θ
−
2
)=I
2
˙
θ
−
2
+(a
2
m
2...
... Ogihara, N. and Yamazaki, N., 20 01, “Generation of human bipedal locomotion
by a bio-mimetic neuro-musculo-skeletal model”, Biol. Cybern., 84, pp. 1-1 1.
8. Ogino, M. Hosoda, K. and M, Asada., 20 02, “Acquiring ... 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)-t...