Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 4 doc

... 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 140 mm and heights o...

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... 2005936106 ISBN-10 4- 4 3 1-2 41 6 4- 7 Springer-Verlag Tokyo Berlin Heidelberg New York ISBN-13 97 8 -4 -4 3 1-2 41 6 4- 5 Springer-Verlag Tokyo Berlin Heidelberg New York Printed on acid-free paper © Springer-Verlag Tokyo ... School of Information Systems University of Electro-Communications 1-5 -1 Chofu-ga-oka, Chofu, Tokyo 18 2-8 585, Japan Kazuo Tsuchiya Department o...

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... International Journal of Control, 40 (1), pp.10 7-1 19. 4. Miura, H., and Shimoyama, I., 19 84, “Dynamic Walk of a Biped,” Int. J. of Robotics Research, 3(2), pp.6 0-7 4. 5. Furusho, j., and Masubuchi, ... 1993, “Dynamics and control of bipedal locomotion,” Journal of Theoretical Biology, 163, pp.27 7-3 14. 14. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T....

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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 ... is the one of character of PDW, we provide a new control method of Quasi-Passive-Dynamic-Walking. Concretely, at first, for the sake of the continuous walking of robot and...

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... 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, H. (1998a). A biologically inspired adaptive control ... Biologically inspired dynamic walking on irregular terrain - adaptation at spinal cord and brain stem. In International Symposium on Adaptive Moti...

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... model. Mathematical Biosciences 52: 24 1-2 60 6. McGeer, T., 1993, Dynamics and control of bipedal locomotion. Journal of Theoretical Biology, 163:27 7-3 14. 7. Blickhan R, Full RJ, 1987, Locomotion energetics of ... (1998) Walknet - a biologically inspired network to control six-legged walking. Neural Networks 11, 143 5- 144 7 Robust Behaviour of the Human Leg 15 Fig....

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... 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 that the study of posture and ... 8:23 3-6 1 3. Delcomyn F. 1980 Neural basis of rhythmic behavior in animals. Science. 210 :49 2 -4 98. 4. E.R. Kandel, J.H. Schwartz, T.M. Jessell, (Eds.) Principles o...

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... gen- erating bounding running, we extended the bounding controller presented in [12] to allow for asymmetric three- and four-beat gaits. The half-bound, [4] , and the rotary gallop [4, 10], expand ... marsupialis) and other non-cursorial mammals. J Zool (Lond) 165: 30 3-3 15. 4. Fischer M.S. & Lehmann R.(1998): Application of cineradiography for the metric and kinematic study...

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... light of these facts, this study is intended to deal with the interaction dynamics between control and body systems, and to analytically and syn- thetically discuss a well-balanced relationship between ... 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 al. , 20...

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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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