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...

Ngày tải lên: 10/08/2014, 01:22

... 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...

Ngày tải lên: 10/08/2014, 01:22

... Introduction 177 2 Neuralcontrolof salamanderlocomotion 178 3 Mechanicalsimulation 179 4 Locomotioncontroller 180 5 Discussion 186 Nonlinear Dynamics of Human Locomotion: from Real-Time Adaptation ... Emulating Adaptive Locomotion of a Quadrupedal Primate by a Neuro-musculo-skeletal Model 205 Naomichi Ogihara, Nobutoshi Yamazaki Contents Part 1 Motion Generation and Adaptation...

Ngày tải lên: 10/08/2014, 01:22

... 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, 19 87, Locomotion energetics of ... properties of the environment as well as those of the walking system. Despite these experimental and theoretical 14 Reinhard Blickhan et al. Fig. 7. Neu...

Ngày tải lên: 10/08/2014, 01:22

... 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...

Ngày tải lên: 10/08/2014, 01:22

... M.(1965): Symmetrical gaits of horses. – Science 150: 70 1 -7 08. 2. Hildebrand M.(1 977 ): Analysis of asymmetrical gaits. –JMamm58(2 ): 13 1-1 56. 3. Jenkins F.A.(1 971 ): Limb posture and locomotion in ... Holmes P. and Koditschek D. E. 2003. A Sim- ply Stabilized Running Model. SIAM J. on Applied Dynamical Systems 2(2):18 7- 218. 4. Hildebrand M. 1 977 . Analysis of Asymm...

Ngày tải lên: 10/08/2014, 01:22

... 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...

Ngày tải lên: 10/08/2014, 01:22

... 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, “The Development of Honda Humanoid ... 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 su...

Ngày tải lên: 10/08/2014, 01:22

... 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...

Ngày tải lên: 10/08/2014, 01:22

... School of Education, University of Tokyo 7- 3 -1 Hongo, Bunkyo-ku, Tokyo 11 3-0 033, Japan Abstract. The nonlinear dynamics of the neuro-musculo-skeletal system and the environment play central roles ... the on-going dynamics of the lower levels of the neural system, body dynamics, and environmental dynamics. 3.2 A model of the neuro-musculo-skeletal system for human loco...

Ngày tải lên: 10/08/2014, 01:22