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

... School of Information Systems University of Electro-Communications 1- 5 -1 Chofu-ga-oka, Chofu, Tokyo 18 2-8 585, Japan Kazuo Tsuchiya Department of Aeronautics and Astronautics Graduate School of Engineering Kyoto ... 200593 610 6 ISBN -1 0 4-4 3 1- 2 416 4-7 Springer-Verlag Tokyo Berlin Heidelberg New York ISBN -1 3 97 8-4 -4 3 1- 2 416 4-5 Springer-Verlag Tokyo B...

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... θ 2 ) K1 1 =(m 1 a 1 + m 2 l 1 + m 3 l 1 )g sin(θ 1 + β 1 ) K1 2 =(m 2 a 2 + m 3 l 2 )g sin θ 2 K1 3 = m 3 a 3 g sin θ 3 Appendix 2 f 1 (θ 1 , ˙ θ − 1 )=I 1 ˙ θ − 1 + {a 1 m 1 v 1x + l 1 (m 2 v 2x + ... 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 −...

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... contact 14 15 13 16 Trunk Neck 1 2 3 −2 1. 5 1 −0.5 0 0.5 1 1.5 1. 5 1 −0.5 0 0.5 1 1.5 X V Fig. 2. Left: Mechanical model of the salamander’s body. The two-dimensional body is made of 16 rigid ... Climbing and Walking Robots, pp. 12 3 -1 30. 14 . Taga, G., 19 95, “A model of the neuro-musculo-skeletal system for human lo- comotion: I. Emergence of basic gait”, B...

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... Emergence of quadruped walk by a 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, ... Biologically inspired dynamic walking on irregular terrain - adaptation at spinal cord and brain stem. In International Symposium on Adaptive Motion of Animals...

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... model. Mathematical Biosciences 52:24 1- 2 60 6. McGeer, T., 19 93, Dynamics and control of bipedal locomotion. Journal of Theoretical Biology, 16 3:27 7-3 14 . 7. Blickhan R, Full RJ, 19 87, Locomotion energetics of ... Schmitz, J (19 98) Walknet - a biologically inspired network to control six-legged walking. Neural Networks 11 , 14 3 5- 14 47 Robust Behaviour of...

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... preparation of the lamprey spinal cord. Exp Brain Res. 41: 1 1- 8 . 10 . Cohen, A. H. 19 87a. Effects of oscillator frequency on phase-locking in the lamprey central pattern generator.J. Neurosci. Meth. 21: 11 3 -1 25. Higher ... Cybern. 4 7 :1 7-2 3 6. Foth E. and Graham D. (19 83a) Influence of loading parallel to the body axis on the walking coordination of an insect. II.Co...

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... because of their phylogenetical and morphological similarities with early hominids [35]. They compared 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 own body weights of 15 0-2 00 g, crown-rump-lengths of 14 0 mm and heights...

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... experiments. References 1. Hildebrand M. (19 65): Symmetrical gaits of horses. – Science 15 0: 70 1- 7 08. 2. Hildebrand M. (19 77): Analysis of asymmetrical gaits. –JMamm58(2 ): 13 1- 1 56. 3. Jenkins F.A. (19 71) : Limb ... movements. Perga- mon, London. 10 . Blickhan R. (19 89): The spring-mass model for running and hopping. - J Biomech 22 (11 /12 ): 12 1 7 -1 227. 11 ....

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... Well-Balanced Design 11 3 80 10 0 12 0 14 0 16 0 18 0 200 0 50 10 0 15 0 200 Number of Phase Modification Energy Consumption Rate 80 10 0 12 0 14 0 16 0 18 0 200 0 50 10 0 15 0 200 Number of ... pp .11 2 -1 13 (19 99) 10 . R. Wootton: Design, Function and Evolution in the Wings of Holometabolous Insects, Zoologica Scripta, Vol. 31, No .1, pp.3 1- 4 0...

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... 5 10 15 1 0 1 u 9 [rad/s] 0 5 10 15 1 0 1 u 10 [rad/s] 0 5 10 15 1 0 1 u 11 [rad/s] t [s] 0 5 10 15 1 0 1 u 12 [rad/s] t [s] b) Input u 1 , ···,u 12 0 2 4 6 8 10 12 14 16 18 0 0.5 1 1.5 2 det(A T A) 0 ... 15 1 0 1 u 10 [rad/s] 0 5 10 15 1 0 1 u 11 [rad/s] t [s] 0 5 10 15 1 0 1 u 12 [rad/s] t [s] (b) Input u 1 , ·...

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