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

... interneurons and motor neurons in the locust. J. Neurosci. 8, 30 3 0 -3 039 12. Kimura S., Yano M., & Shimizu, H., (19 93) . A self-organizing model of walking patterns of insects. Biol. Cybern. 69 18 3- 1 93 13. ... possibility of employing state -of- the-art interventional recording techniques and cellular-to-systems level of neuroscientific analysis to the study of...

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... 2005 936 106 ISBN-10 4-4 3 1-2 416 4-7 Springer-Verlag Tokyo Berlin Heidelberg New York ISBN- 13 97 8-4 - 43 1-2 416 4-5 Springer-Verlag Tokyo Berlin Heidelberg New York Printed on acid-free paper © Springer-Verlag ... 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...

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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, 1 63: 27 7 -3 14. 7. Blickhan R, Full RJ, 1987, Locomotion energetics of ... D.E., 1999, Templates and anchors: neuromechanical hypothesis of legged locomotion on land. J. Exp. Biol. 202 :33 2 5 -3 33 2 Control of Hexapod Walking in...

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... 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 joint ... 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 im...

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... Japan 20 (3) :1 5-2 0. 2. Full R. J. and Koditschek D. 1999. Templates and Anchors: Neuromechanical Hypotheses of Legged Locomotion on Land. J. Exp. Biol. 202 :33 2 5 -3 33 2. 3. Ghigliazza R. M., Altendorfer ... JexpBiol201(pt 21): 2 93 5-2 944. 12. Full R.J., Koditschek D.E.(1999): Templates and anchors: neuromechanical hy- potheses of legged locomotion on land. – JexpBiol...

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... 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...

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... 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 a Biped Mechanism with Bent Knee Kyosuke Ono and Xiaofeng Yao Tokyo Institute of Technology, Department of Mechanical and Control Engineering, 2-1 2-1 Ookayama, Megur...

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... m 2 a 2 2 + m 3 l 2 2 M1 23 = m 3 a 3 l 2 cos(θ 3 − θ 2 ) M1 33 = I 3 + m 3 a 2 3 C1 12 = −(m 2 a 2 + m 3 l 2 )l 1 sin(θ 2 − θ 1 ) C1 13 = −m 3 a 3 l 1 sin(θ 3 − θ 1 ) C1 23 = −m 3 a 3 l 2 sin(θ 3 − θ 2 ) K1 1 =(m 1 a 1 + ... m 3 v 3y )}sin θ 1 f 2 (θ 2 , ˙ θ − 2 )=I 2 ˙ θ − 2 +(a 2 m 2 v 2x + l 2 m 3 v 3x )cosθ 2 +(a 2 m 2 v 2y + l 2 m 3 v 3y )sin θ...

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... 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 walking as ... of the stability of walking and it is Motion Generation and Control of Quasi Passsive Dynamic Walking 1 73 0 0.1 0.2 0 .3 0.4 - 0.5 - 0.4 - 0 .3 - 0.2...

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... central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biological Cybernetics, 85(5) :33 1– 34 8, 2001. 3. I. Delvolv´e, T. Bem, and J M. Cabelguen. Epaxial and ... neuronal and mechanical model of fish swimming. Biological Cybernetics, 69 :36 3 37 4, 19 93. 9. N. Kopell. Chains of coupled oscillators. In M.A. Arbib, editor, The handbook of...

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