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-...

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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- 1447 Robust Behaviour of the Human Leg 15 Fig. 8....

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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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... 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...

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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 ... 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...

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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. –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...

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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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... 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...

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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 ... 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...

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