Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 3 pptx
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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 1 docx
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 2 ppsx
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 4 doc
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 5 pdf
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 6 ppsx
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 7 ppt
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 8 docx
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 9 docx
... 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...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 10 pps
... 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...