Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 13 docx

... 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 Moti...

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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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... 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 ... 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 De...

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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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... 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 ... properties of the environment as well as those of the walking system. Despite these experimental and theoretical 14 Reinhard Blickhan et al. Fig. 7. Neuronal...

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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 ... choice and posi- tioning of sensors leads to robust behavior, and the principle of ecological balance that explicitly capitalizes on the relation between morphology, mate-...

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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 ... 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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