adaptive motion of animals and machines - hiroshi kimura et al (eds)

[...]... sources of external work in level walking and running J Physiol Lond 262:63 9-6 57 5 Mochon, S., McMahon, T.A., 1980, Ballistic walking: an improved 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 the ghost crab: II Mechanics of the center of mass... 199:16 3-1 79 17 Wagner H., Blickhan R., 1999, Stabilising function of antagonistic neuromusculoskeletal systems - an analytical investigation-” (J biol Cybernet submitted) 18 Maier, K.D., Glauche, V., Blickhan, R., et al ,2000a, Controlling one-legged three-dimensional hopping movement Intern Symp Adaptive Motion of Animals and machines (AMAM 2000) 19 Maier, K.D., Glauche, V., Beckstein, et al. , in... springlegged locomotion with artificial neural networks Soft computing Control of Hexapod Walking in Biological Systems Holk Cruse, Volker D¨rr, Josef Schmitz and Axel Schneider u Faculty of Biology, University of Bielefeld, Postfach 100131, D-33501 Bielefeld, Germany holk.cruse@uni-bielefeld.de Abstract To investigate walking we perform experimental studies on animals in parallel with software and hardware... leg controller consists of three separate control networks Two low-level networks, a swing network and a stance network, control the movement of the leg during swing and stance, respectively The transition between swing and stance is controlled by a selector network The swing network and the stance network are always active, but the selector network determines which of the two networks controls the motor... Part 1 Motion Generation and Adaptation in Animals Overview of Adaptive Motion in Animals and Its Control Principles Applied to Machines Avis H Cohen University of Maryland, Biology Department and Institute for Systems Research, College Park, MD 20742, USA avis@isr.umd.edu Animals have developed their locomotor strategies and control mechanisms under the intense pressure of the need to survive and reproduce... distribution of horizontal force is described by the angle of attack of the system For the case of symmetric operation deceleration is equal to acceleration and continuous locomotion possible The point of operation of such a system is partly set by physical physiological conditions The friction Robust Behaviour of the Human Leg 7 coefficient limits the angle of attack The amplitudes of the vertical oscillation... when walking Nevertheless, we will argue that walking in a natural environment requires considerable ,,motor intelligence“ and can be regarded as a paradigm for control of behavior in general First of all, walking, as almost all behavior, has to deal with redundancy In most biological systems for motor control, particularly those concerned with walking, the number of degrees of freedom is normally larger... Ljapunov-Criteria can be used to examine whether the system asymptotically returns to the prescribed path after disturbance [16] It assumes an exponential return to the undisturbed condition in the state space The local slope of this return can be determined from the Eigenvalues of the Jacobian of the equations of motion In our case with changing conditions during eccentric and concentric periods of the... movement) The target net transforms information on the configuration of the anterior, target leg, α1 , β1 , and γ1 , into angular values for the next caudal leg which place the two tarsi close together These desired final values (αt , βt , γt ) and the current values (α, β, and γ) of the leg angles are input to the swing net together with a bias input (1) and four sensory inputs (r1 - r4) which are activated... 130:15 5-1 74 8 Blickhan, R., Full, R.J., 1993, Similarity in multilegged locomotion: Bouncing like a monopode J Comp Physiol A-173:50 9-5 17 9 Full, R.J., Koditschek, D.E., 1999, Templates and anchors: neuromechanical hypothesis of legged locomotion on land J Exp Biol 202:332 5-3 332 16 Reinhard Blickhan et al 10 Kubow, T.M and Full, R.J., 1999, The role of the mechanical system in control: a hypothesis of . (Editors) Adaptive Motion of Animals and Machines With 241 Figures ABC Hiroshi Kimura Graduate School of Information Systems University of Electro-Communications 1-5 -1 Chofu-ga-oka, Chofu, Tokyo 18 2-8 585,. 05 65, D-98684 Ilmenau, Germany Library of Congress Control Number: 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. Hiroshi Kimura, Kazuo Tsuchiya, Akio Ishiguro, Hartmut Witte (Editors) Adaptive Motion of Animals and Machines Hiroshi Kimura, Kazuo Tsuchiya, Akio Ishiguro, Hartmut Witte (Editors) Adaptive