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 ... International Journal of Control, 40(1), pp.10 7-1 19. 4. Miura, H., and Shimoyama, I., 1 984 , “Dynamic Walk of a Biped,” Int. J. of Robotics Research, 3(2), pp.6 0-7 4. 5...

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... 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 Aeronautics and Astronautics Graduate School of Engineering Kyoto ... 2005936106 ISBN-10 4-4 3 1-2 416 4-7 Springer-Verlag Tokyo Berlin Heidelberg New York ISBN-13 97 8- 4 -4 3 1-2 416 4-5 Springer-Verlag Tokyo Berlin...

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... bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model”, Biol. Cybern., 84 , pp. 1-1 1. 8. Ogino, M. Hosoda, K. and M, Asada., 2002, “Acquiring passive dynamic walk- ing based on ballistic ... 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 trajecto...

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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 Mot...

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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, 1 987 , Locomotion energetics of ... J (19 98) Walknet - a biologically inspired network to control six-legged walking. Neural Networks 11, 143 5- 1447 Robust Behaviour of the Human Leg 15 Fig....

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... Ruina, A., 19 98, The simplest walking model: sta- bility, complexity, and scaling, J. of Biomechanical Eng., 120: 28 1-2 88 2. Grillner S, Wall´en P. 1 985 Central pattern generators for locomotion, with special ... 4 7:1 7-2 3 6. Foth E. and Graham D. (1 983 a) Influence of loading parallel to the body axis on the walking coordination of an insect. II.Contralateral effects. B...

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... 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...

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... M.(1965): Symmetrical gaits of horses. – Science 150: 70 1-7 08. 2. Hildebrand M.(1977): Analysis of asymmetrical gaits. –JMamm 58( 2 ): 13 1-1 56. 3. Jenkins F.A.(1971): Limb posture and locomotion in ... P. and Koditschek D. E. 2003. A Sim- ply Stabilized Running Model. SIAM J. on Applied Dynamical Systems 2(2): 18 7- 2 18. 4. Hildebrand M. 1977. Analysis of Asymmetrical...

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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 ... biped walking were proposed [ 1-7 ]. In addition, dynamic stability of walking locomotion inherent to a biped mech- anism on a shallow slope were also studied by a number of res...

Ngày tải lên: 10/08/2014, 01:22