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

... 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 ... 200593 610 6ISBN -1 0 4-4 3 1- 2 416 4-7 Springer-Verlag Tokyo Berlin Heidelberg New YorkISBN -1 3 97 8-4 -4 3 1- 2 416 4-5 Springer-Verlag Tokyo Berlin Heidelberg New YorkPrinted on acid-free paper© Springer-Verlag Tokyo ... Oscillators . 17 7Auke Jan Ijspeert, Jean-Marie Cabelguen 1 Introduction 17 72 Neuralcontrolof salamanderlocomotion 17 83 Mechanicalsimulation 17 94 Locomotioncontroller 18 05 Discussion 18 6Nonlinear...

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

... θ2)K1 1 =(m 1 a 1 + m2l 1 + m3l 1 )g sin(θ 1 + β 1 )K12=(m2a2+ m3l2)g sin θ2K13= m3a3g sin θ3Appendix 2f 1 (θ 1 ,˙θ− 1 )=I 1 ˙θ− 1 + {a 1 m 1 v1x+ l 1 (m2v2x+ ... θ3Appendix 3M2 11 = I 1 + m 1 a2 1 + m2l2 1 M2 12 = m2a2l 1 cos(θ2− θ 1 )M222= I2+ m2a22C2 12 = −m2a2l 1 sin(θ2− θ 1 )K2 1 =(m 1 a 1 + m2l 1 )g sin θ 1 K22= m2a2g ... Thuilot, B., and Espiau,B., 19 98, A Study of the Passive Gait of aCompass-Like Biped Robot: Symmetry and Chaos, Int. J. Robot. Res. 17 (12 ),pp .12 8 2 -1 3 01. 11 . McGeer T., 19 90, “Passive dynamic walking,”...

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

... contact 14 15 13 16 TrunkNeck 1 23−2 1. 5 1 −0.5 0 0.5 1 1.5 1. 5 1 −0.500.5 1 1.5XVFig. 2. Left: Mechanical model of the salamander’s body. The two-dimensionalbody 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”, Biol. Cybern., 73, pp. 9 7 -1 11 . 15 . ... are described inmore detail in [2].Learning Energy-Eﬃcient Walking with Ballistic Walking 16 1 -1 5 -1 0 -5 05 10 15 Torque [Nm] 1. 61. 41. 21. 00.80.60.40.20.0Time [sec]432 1 Control ModeanklekneehipControl...

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

... Emergence of quadrupedwalk 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 onirregular terrain - adaptation at spinal cord and brain stem. In InternationalSymposium on Adaptive Motion of Animals and Machines, Montreal.22. Kimura, ... 25 3-2 79.27. Georgopoulos, A. P., and Grillner, S., 19 86. Visuomotor coordination in reach-ing and locomotion. Science 245: 12 0 9 -1 210 .28. Drew, T., 19 91. Visuomotor coordination in locomotion....

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

... model.Mathematical Biosciences 52:24 1- 2 606. 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 47Robust Behaviour of the Human Leg 15 Fig. 8. Elastic beams under torsion and ... M¨uller-Wilm,U., Cruse, H. (19 98) Oscilla-tory networks controlling six-legged locomotion. Optimization of model’s pa-rameters. Neural Networks 11 , 14 4 9 -1 4607. Cruse, H, and Bartling, C (19 95)...

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

... preparation of the lamprey spinalcord. Exp Brain Res. 41: 1 1- 8 . 10 . Cohen, A. H. 19 87a. Eﬀects of oscillator frequency on phase-locking in thelamprey central pattern generator.J. Neurosci. Meth. 21: 11 3 -1 25.Higher ... Cybern. 47 :1 7-2 36. Foth E. and Graham D. (19 83a) Inﬂuence of loading parallel to the body axison the walking coordination of an insect. II.Contralateral eﬀects. Biol. Cybern.48 :14 9 -1 577. Getting ... model of walkingpatterns of insects. Biol. Cybern. 69 18 3 -1 93 13 . Kimura S., Yano M., & Shimizu, H., (19 94). A self-organizing model of walkingpatterns of insects II. The loading eﬀect and...

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 14 0 mm and heights of theCoM over ground of 45 mm. Kinematics ... control of Bp standing and Bp walking, and especially of the adaptability of locomotor movements to meet the envi-ronmental demands. This adaptability is one of the most important charac-teristics...

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

... 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. - JBiomech 22 (11 /12 ): 12 1 7 -1 227. 11 . Lee C.R., Farley C. (19 98): Determinant of the center of mass ... morphology of the three-segmented limb of mammals and its specialities in small and medium-sizedmammals. Proc Europ Mechanics Coll Euromech 375 Biology and Technology of Walking: 10 17 .6. Cavagna...

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

... Well-Balanced Design 11 3 80 10 0 12 0 14 0 16 0 18 0 200 0 50 10 0 15 0 200Number of Phase ModificationEnergy Consumption Rate 80 10 0 12 0 14 0 16 0 18 0 200 0 50 10 0 15 0 200Number of ... pp .11 2 -1 13 (19 99) 10 . R. Wootton: Design, Function and Evolution in the Wings of HolometabolousInsects, Zoologica Scripta, Vol. 31, No .1, pp.3 1- 4 0 (2002) 11 . http://www.q12.org/ode/ode.html 10 0 ... =0.25 (b) α =1. 0 80 10 0 12 0 14 0 16 0 18 0 200 0 50 10 0 15 0 200Number of Phase ModificationEnergy Consumption Rate 80 10 0 12 0 14 0 16 0 18 0 200 0 50 10 0 15 0 200Number of Phase ModificationEnergy...

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

... 5 10 15 1 0 1 u9 [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 00.5 1 1.52det(ATA)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 , ···,u 12 0 2 4 6 8 10 12 14 16 18 00.5 1 1.52det(ATA)0 2 4 6 8 10 12 14 16 18 00.5 1 1.52x ... 5 10 15 1 0 1 u4 [rad/s]0 5 10 15 1 0 1 u5 [rad/s]0 5 10 15 1 0 1 u6 [rad/s]0 5 10 15 1 0 1 u7 [rad/s]0 5 10 15 1 0 1 u8 [rad/s]0 5 10 15 1 0 1 u9 [rad/s]0 5 10 15 1 0 1 u 10 ...

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