Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 11 ppsx
Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 11 ppsx
... 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 abduction-adduction and medial-lateral rotation ... 5 0-5 7.
13. Williamson, M., M., 1998, Neural control of rhythmic arm movements, Neural
Networks, 11, 137 9-1 394.
14. Taga, G., 1995, A model of the neuro-musculo-...
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., 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- 1447
Robust Behaviour of the Human Leg 15
Fig. 8....
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 1 docx
... 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 in Animals
Overview of ... 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 an...
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 ... use of co-activation of actuators acting across a single
joint, and complex non-linear integration of sensory feedback could offer more
flexibility and optimality in b...
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.(1965): 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 in ... R.(1989): The spring-mass model for running and hopping. - J
Biomech 22 (11/ 12): 121 7-1 227.
11. Lee C.R., Farley C. (1998): Determinant of the center of mass in huma...
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 ... M, 1986, “Control of a Dynamical Biped Loco-
motion System for Steady Walking,” Trans. ASME, J. of Dynamic Systems,
Measurement, and Control, 108(2), pp .11 1-1 18.
6. Kajit...
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 ... 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...