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Nanoparticle Synthesis in Vesicle Microreactors 551 Adv. Mater. 17 Biophys. J Chem. Rev. Angew. Chem. Int. Ed. Chem. Commun Physics Reports Int. Rev. Cytol. Biomol. Eng. ChemBioChem Sex Plant Reprod. Chem. Lett. Nature J. Phys. Chem. B Langmuir , Langmuir Chem. Rev. J. Biosci. Bioeng. BiomimeticBasedApplications 552 Small Science Angew. Chem. Int. Ed. Angew. Chem. Int. Ed. J. Am. Chem. Soc. Rev. Physiol. Biochem. Pharmacol. 20 Biologically Inspired Locomotion Control of a Climbing Robot !"#$%&'()'")*"+$%+'# , -).+/0+()1(+$"+23(+'"+( 4 )%$')5(67)5%#8")9%)3+0: , ) ! "#$%&'(#)'*+,*-#.#/+((0)1/%'1+)2*%)3*4+)'&+.5*67+*8%0.+*9)1:#&21';* * < "#$%&'(#)'*+,*=#/>%'&+)1/25*67+*8%0.+*9)1:#&21';* ?&%@1.* 1. Introduction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iomimeticBasedApplications 554 O="6") C+(C"+/#"6-) E="$) /+%$6>"++"') /() 8%/="8%/#?%&) 8('"&6-) 8%P") 3I;6) #$/"+"6/#$<) A0#&'#$<) A&(?P6) >(+) &(?(8(/#($) ?($/+(&&"+6) #$) +(A(/6) %$') =%F") A""$) E"&&) 6/0'#"') AB) %) $08A"+) (>) +"6"%+?="+6) E#/=) C(66#A&") %CC&#?%/#($6) /() /=") ?($/+(&) (>) E%&P#$<) 8%?=#$"6) HY$%<%P#-)`0%6%)J).+%#-)4TT\M)Y6=##-)^%6%P%'(-)J)Y6=##-)4TTWM)Y$%<%P#-)`0%6%)J)[0:0P#-)4TTXM) a#0)"/) %&-)4TT_M) YK6C""+/-)3+"6C#) J)!B?:P(-)4TT_M).(#) J)O60?=#B%-)4TT_M) ^(+#8(/(-)b$'() J) c%P%$#6=#-)4TTURD) 2. The four legged robot platform: Kamanbaré 2.1 Overview of the platform I0+C(+/#$<)/=") 8%#$)<(%&) (>)?A#$<)/+""6)>(+)"$F#+($8"$/%&)+"6"%+?=) %CC&#?%/#($6-)%)A#(2 #$6C#+"')+(A(/#?)C&%/>(+8)$%8"')Q%8%$A%+7)E%6)'"6#<$"')%$')A0#&/)H*"+$%+'#)J)9%)3+0:-) 4TT_RD)O=") C+(K"?/d6)8%#$)%CC&#?%/#($)#6) ?A#$<)/+""6)>(+)$($2#$F%6#F")+"6"%+?=)C0+C(6"6-) +"%?=#$<)C(#$/6)/=%/)8%B)+"C+"6"$/)%)+#6P)/()=08%$6D) O=")8"?=%$#?%&) 6/+0?/0+")(>) /=") Q%8%$A%+7)C&%/>(+8)?($6#6/6) (>)%)?"$/+%&) +#<#') A('B)E#/=) >(0+)#'"$/#?%&)&"<6)'#6/+#A0/"')6B88"/+#?%&&B-)1#<),D)b%?=)&"<)?(8C+#6"6)/=+"")&#$P6)?($$"?/"') AB)/=+"")+(/%/#$<)K(#$/6)%$')>#G"')/()/=")?"$/+%&)A('BD)b%?=)K(#$/)=%6),)9S1D)Y'"$/#?%&)8(/(+) %$')+"'0?/#($)<+(0C6)%+")+"6C($6#A&")AB)/=")+(/%+B)8(F"8"$/6D)1#<D)4)6=(E6)/=")P#$"8%/#?) ?($>#<0+%/#($)(>)%)&"<D)) ) ) ) ) ) 1#<D),D)Q%8%$A%+7)+(A(/D)a">/e)3.9)8('"&D)!#<=/e)C+(/(/BC")C#?/0+"D) 2.2 Hardware architecture O=") ?(8C0/%/#($6)(>) &(?(8(/#($) 6/+%/"<#"6-)8(/#($) ?($/+(&)%&<(+#/=86-) 6"$6(+)#$>(+8%/#($) C+(?"66#$<) %$') ?(880$#?%/#($) E#/=) /=") A%6") 6/%/#($) 806/) A") '($") #$) +"%&2/#8"D) O=#6) 6#<$#>#?%$/) ?(8C0/"+) &(%') +"@0#+"6) %$) %'F%$?"') %+?=#/"?/0+") C+(?"66(+) +0$$#$<) %) F"+B) ">>#?#"$/) (C"+%/#$<) 6B6/"8-) /="+">(+") /=") .!^L) ?(+") +0$$#$<) %) !"%&) O#8") a#$0G) E"+") ?=(6"$D) Biologically Inspired Locomotion Control of a Climbing Robot 555 ) 1#<D)4D)Q#$"8%/#?)?($>#<0+%/#($)(>)%)&"<D) 90")/()/=")?($/+(&)?(8C&"G#/B)C+"6"$/)#$)/=#6)C%+/#?0&%+)+(A(/#?)C&%/>(+8-)%)8%#$)A(%+')>(+) /=")"G"?0/#($)(>)/=")=#<="6/)=#"+%+?=#?%&)&"F"&)?($/+(&)%?/#F#/#"6)E%6)?($6#'"+"'D) .6)%)6(&0/#($)>(+)/=")8%#$)A(%+'-)/=")O[2_4ZT)HO"?=$(&(<#?)[B6/"86-)f[.R)E%6)6"&"?/"'D)O=") 8%#$)+"%6($6)>(+)/=#6)?=(#?")E"+"e)#/)#6)?(8C%?/-)#/)?($/%#$6)'#>>"+"$/)6/%$'%+')#$/"+>%?"6-)%$') #/) #6)A%6"') ($)/=") bIL\T4)3#++06)a(<#?) 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Gait .)<%#/)#6)%)+"C"/#/#F")H@0%6#2?B?&#?%&e)?($6#'"+)68%&&)F%+#%/#($6)>+(8)?B?&")/()?B?&")/()%'%C/)/() <+(0$')#++"<0&%+#/#"6R)C%//"+$)(>)>((/)C&%?"8"$/6)H1(+$"+23(+'"+()"/)%&D-)4TTXRD)Y/)#6)060%&)/() %6608")/=%/)"%?=)&"<)#6)60>>#?#"$/&B)6C"?#>#"')%6)%)/E(26/%/")'"F#?"e)($)/=")<+(0$')%$')(>>)#/D) O=") &"<6)($) /=") <+(0$') %+") 60CC(+/#$<) %$') C+(C"&&#$<)/=") +(A(/-) %$')/=(6") #$) /=")%#+) %+") A"#$<)+"/+%?/"'D) Biologically Inspired Locomotion Control of a Climbing Robot 559 ) ) ) ) ) ) ) ) 1#<D)UD)Q%8%$A%+7g6)?($>#<0+%/#($)(>)K(#$/6e)/(C)F#"ED) BiomimeticBasedApplications 560 ) BF Weld1 BF Wel d CS3 CS2 RootPart RootGround Conn1 Rear Right Leg LEG 4 Conn1 Rear Left Leg LEG 3 Env Gait Generator Conn1 Front Right Leg LEG 2 Conn1 Front Left Leg LEG 1 CS2 CS5 CS3 CS6 CS4 Corpo-1 ) 1#<D)LD)Q%8%$A%+7g6)[#80&#$P)8('"&D) ) 1 Conn1 s imout 2 sJ1 3 s imout1 sJ1 2 si m o u t sJ1 1 CS3 CS2 coxa2-1 CS2 CS3 coxa1-1 CS2 canela-1 Joi nt Sensor 13 Joi nt Sensor 12 Joi nt Sensor 11 Joi nt Actuator 13 Joi nt Actuator 12 Joi nt Actuator 11 BF J13 BF J12 BF J11 P12 From 12 P11 From 11 du/dt Derivati ve4 du/dt Derivati ve3 du/dt Derivati ve2 du/dt Derivati ve19 du/dt Derivati ve18 du/dt Deri vati ve 1 0 Constant ) 1#<D),TD)[#80&#$P)a"<)8('"&e)1+($/)a">/D) [...]... and extensor muscles at joints during walking The extensor and flexor are physiologically driven based on the output of each neuron Self-inhibition is governed by b• vi and b• vj connections and mutual inhibition by wijyj and wjiyi connections, as shown in Fig 16 564 BiomimeticBasedApplications Fig 15 Matsuoka neuron model (adapted from Liu et al, 2007) Fig 16 Oscillator with an extensor (E) and... -0.4 0 1 2 3 4 t (s) Fig 22 Output response using the tuned set of parameters 5 6 7 570 BiomimeticBasedApplications 0.4 0.3 0.2 u 0.1 0 -0.1 -0.2 0 0.05 0.1 0 .15 0.2 v Fig 23 Phase plot of the time evolution of the linear oscillator 7 Conclusions The main purpose of this work was to design and implement a CPG based control consisting of a network of mutually inhibited and coupled Matsuoka oscillators... Liu, G L.; Habib, M K.; Watanabe, K & Izumi, K (2007) The Design of Central Pattern Generators Based on the Matsuoka Oscillator to Generate Rhythmic Human-Like Movement for Biped Robots Journal of Advanced Computational Intelligence and Intelligent Informatics Volume 11, nº 8, pp 946-955 572 BiomimeticBasedApplications Matsuoka, K (1985) Sustained oscillations generated by mutually inhibiting neurons... way, the described CPG was simulated considering the parameters: Tr = 0.05, Ta = 0.5, b = 2.0, u0 = 1.0, feedi = 0.0 The weighting matrix wij (i = 1, 2, …, 8 and j = 1, 2, …, 8) was chosen as 568 BiomimeticBasedApplications 0.0 2.0 1.0 0.0 1.0 0.0 1.0 0.0 2.0 0.0 0.0 1.0 0.0 1.0 0.0 1.0 1.0 0.0 0.0 2.0 1.0 0.0 1.0 0.0 0.0 1.0 2.0 0.0 0.0 1.0 0.0 1.0 wij 1.0 0.0 1.0 0.0 0.0 2.0 1.0 0.0 0.0 1.0 0.0 1.0... move half a period out of phase with one another The Bound, which is a fast-speed gait, is similar to the trot, except that front and rear limbs, respectively, move together and in phase 562 BiomimeticBasedApplications Fig 12 Gait diagram (adapted from Todd, 1985) 40 LEG 1 LEG 2 LEG 3 LEG 4 30 Joint Angle 20 10 0 -10 -20 -30 -40 0 0.5 1 1.5 2 2.5 3 3.5 4 t (s) Fig 13 Gait represented in the form... P12 represents the joint 2 of the LEG1 (J12), P21 represents the joint 1 of the LEG2 (J21) and so on Fig 17 The CPG network (adapted from Liu et al, 2007 and Ishii, Masakado & Ishii, 2004) 566 BiomimeticBasedApplications Fig 18 The Simulink CPG network model The content of Neural Oscillators blocks of Fig 18 is the corresponding implementation of the oscillator presented in Fig 16 with two neurons:... Neural control of locomotion Part 1: The central pattern from cats to humans Gait and Posture Volume 7, pp 131–141 Forner-Cordero, A.; Koopman, H J F M & Helm, F C T (2006) Describing gait as a sequence of states Journal of Biomechanics Volume 39, nº 5, pp 948-957 Fukuoka, Y.; Kimura, H & Cohen, A H (2003) Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts... number of inputs applied to the i-th neuron model, which may be either proprioceptive signals or signals from other neurons Time constants Tr and Ta change frequency and the input u0 changes amplitude Fig 15 shows the general Matsuoka neuron model described by the equations presented above Assuming that the Matsuoka oscillator consists of two neurons with four state variables (Liu et al., 2007), two variables,... an oscillator-driven biped robot In: de Pina Filho, ed Humanoid Robots, New Developments ISBN 978-3-902613-02-8, I-Tech, Vienna, Austria Bernardi, R de & Da Cruz, J J (2007) Kamanbaré: A Tree-climbing Biomimetic Robotic Platform for Environmental Research International Conference on Informatics in Control, Automation & Robotics Angers, France Brown, T G (1914) On the nature of the fundamental activity... Bound (adapted from Collins & Richmond, 1994) 563 Biologically Inspired Locomotion Control of a Climbing Robot In the present work, a CPG model was considered to be a locomotion control for only the particular gait mode Walk 4 CPG controller architecture 4.1 Matsuoka nonlinear neural oscillators The model of Matsuoka’s nonlinear neural oscillator (Matsuoka, 1985, 1987; Liu et al, 2007) consists of . ) ) ) ) ) ) ) ) 1#<D)UD)Q%8%$A%+7g6)?($>#<0+%/#($)(>)K(#$/6e)/(C)F#"ED) Biomimetic Based Applications 560 ) BF Weld1 BF Wel d CS3 CS2 RootPart RootGround Conn1 Rear Right Leg LEG 4 Conn1 Rear Left Leg LEG. 3 ) 1#<D)44D)S0/C0/)+"6C($6")06#$<)/=")/0$"')6"/)(>)C%+%8"/"+6D) Biomimetic Based Applications 570 0 0.05 0.1 0 .15 0.2 -0.2 -0.1 0 0.1 0.2 0.3 0.4 : 0 ) 1#<D)4D)I=%6")C&(/)(>)/=")/#8")"F(&0/#($)(>)/=")&#$"%+)(6?#&&%/(+D) 7 %+?=#/"?/0+") E%6)'">#$"'D)Y$#/#%&&B)($&B)($")K(#$/)E%6)?($6#'"+"')%6)+"C+"6"$/"')#$)1#<D)W-)E="+")/=")8%#$) ?(8C($"$/6)%+")6=(E$e)%)93)8(/(+-)%)C(/"$/#(8"/"+)%$')%)8#?+()6E#/?=D) Biomimetic Based Applications 556 ) 1#<D)WD)[?="8%/#?)+"C+"6"$/%/#($)(>)%)K(#$/D) O=06-)