Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 6 ppsx
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 2 ppsx
... 1980, Ballistic walking: an improved 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 ... pages 65 8 -6 61
4. Cavagna, G.A., Thys, H., Zamboni, A., 19 76, The sources of external work in
level walking and running. J. Physiol. Lond. 262 :63 9 -6 57
5. Mo...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 11 ppsx
... 31 7-3 31.
33. Yamazaki, N., Hase, K., Ogihara, N., et al. 19 96, Biomechanical analysis of the
development of human bopedal walking by a neuro-musculo-skeletal model,
Folia Primatologica, 66 , 25 3-2 71.
34. ... truncated
elliptical cone in order to calculate its inertial parameters.
All joints are modeled as three degree -of- freedom gimbal joints. How-
ever, here we restrict ab...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 1 docx
... 20059 361 06
ISBN-10 4-4 3 1-2 4 16 4-7 Springer-Verlag Tokyo Berlin Heidelberg New York
ISBN-13 97 8-4 -4 3 1-2 4 16 4-5 Springer-Verlag Tokyo Berlin Heidelberg New York
Printed on acid-free paper
© Springer-Verlag ... Freezing and freeing degrees of freedom in the development of loco-
motion 199
6 Concludingcomments 201
Towards Emulating Adaptive Locomotion of...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 3 pptx
... 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 ... Gait patterns of turning walk at slow speed a) and high speed b).
crucially depending on their walking velocities and loads, animals could gen-
erate a great number o...
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 ... 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 m...
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 5 pdf
... M.(1 965 ): Symmetrical gaits of horses. – Science 150: 70 1-7 08.
2. Hildebrand M.(1977): Analysis of asymmetrical gaits. –JMamm58(2 ): 13 1-1 56.
3. Jenkins F.A.(1971): Limb posture and locomotion ... 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 kinema...
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
... gravitational and inertial force
are utilized for motion. Such kind of walking is called ”ballistic walking”.
Ballistic walking is supposed to be a human walking model suggested by
Mochon and McMahon [6] . ... 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., 1998,...
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 ... 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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