Adaptive Motion of Animals And Machines:9784431241645:Kimura, Hiroshi; Tsuchiya, Kazuo; Ishiguro, Akio; Witte, Hartmut :eCampus.com

Part 1 Motion Generation and Adaptation in Animals

Overview of Adaptive Motion in Animals and Its Control Principles Applied to Machines

(2)

Avis H. Cohen

Robust Behaviour of the Human Leg

(12)

Reinhard Blickhan

Andre Seyfarth

Heiko Wagner

Arnd Friedrichs

Michael Gunther

Klaus D. Maier

Introduction

(1)

Results

(8)

Perspective

(3)

Control of Hexapod Walking in Biological Systems

(14)

Holk Cruse

Volker Durr

Josef Schmitz

Axel Schneider

Walking: a nontrivial behavior

(2)

Control of the step rhythm of the individual leg

(1)

Control of the selector network: coordination between legs

(2)

Control of the swing movement

(3)

Control of the stance movement and coordination of supporting legs

(2)

Conclusion

(5)

Purposive Locomotion of Insects in an Indefinite Environment

(10)

Masafumi Yano

Introduction

(1)

Motion control system

(3)

Central pattern generator model

(3)

Results

(1)

Discussion

(3)

Control Principles for Locomotion--Looking Toward Biology

(12)

Avis H. Cohen

Introduction to Central Pattern Generators and their sensory control

(1)

CPG and muscle activation

(4)

Sensory feedback

(4)

Summary and conclusions

(4)

Higher Nervous Control of Quadrupedal vs Bipedal Locomotion in Non-Human Primates; Common and Specific Properties

(16)

Shigemi Mori

Futoshi Mori

Katsumi Nakajima

Introduction

(1)

Locomotor control CNS mechanisms including anticipatory and reactive control mechanisms

(2)

Emergence, acquisition and refinement of Bp locomotion in Juvenile Japanese monkeys

(2)

Common and different control properties of Qp and Bp locomotion

(1)

Similarity and difference in the kinematics of lower limbs during Bp walking between our monkey model and the human

(1)

Summary and discussion

(9)

Part 2 Adaptive Mechanics

Interactions between Motions of the Trunk and the Angle of Attack of the Forelimbs in Synchronous Gaits of the Pika (Ochotona rufescens)

(10)

Remi Hackert

Hartmut Witte

Martin S. Fischer

Introduction

(1)

Preliminiary question: do pikas prefer one forelimb as trailing limb?

(2)

Trajectories of the centre of mass of pikas in half-bound gait

(2)

Does the angle of attack couple with speed?

(1)

Conclusions

(4)

On the Dynamics of Bounding and Extensions: Towards the Half-Bound and Gallop Gaits

(12)

Ioannis Poulakakis

James Andrew Smith

Martin Buehler

Introduction

(1)

Bounding experiments with Scout II

(1)

Self-stabilization in the SLIP

(1)

Modeling the Bounding Gait

(3)

Local stability of passive bounding

(1)

The half-bound and rotary gallop gaits

(3)

Conclusion

(3)

Part 3 Machine Design and Control

Jumping, Walking, Dancing, Reaching: Moving into the Future. Design Principles for Adaptive Motion

(16)

Rolf Pfeifer

Introduction

(2)

Design principles: overview

(4)

Information theoretic implications of embodiment

(5)

Exploring ``ecological balance''---artificial evolution and morphogenesis

102

(2)

Discussion and conclusions

104

(3)

Towards a Well-Balanced Design in the Particle Deflection Plane

107

(10)

Akio Ishiguro

Kazuhisa Ishimaru

Toshihiro Kawakatsu

Introduction

107

(1)

Lessons from biological findings

108

(1)

The model

109

(1)

Proposed method

110

(1)

Preliminary simulation results

111

(3)

Conclusion and future work

114

(3)

Experimental Study on Control of Redundant 3--D Snake Robot Based on a Kinematic Model

117

(14)

Fumitoshi Matsuno

Kentaro Suenaga

Introduction

117

(2)

Redundancy controllable system

119

(1)

Kinematic model of snake robots

119

(3)

Condition for redundancy controllable system

122

(1)

Controller design for main-objective

123

(1)

Controller design for sub-objective

124

(1)

Experiments

125

(1)

Conclusion

125

(6)

Part 4 Bipedal Locomotion Utilizing Natural Dynamics

Simulation Study of Self-Excited Walking of a Biped Mechanism with Bent Knee

131

(12)

Kyosuke Ono

Xiaofeng Yao

Introduction

131

(1)

The analytical model and basic equations

132

(3)

The results of simulation

135

(5)

Conclusion

140

(3)

Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking

143

(12)

Martijn Wisse

Jan van Frankenhuyzen

Introduction

143

(1)

Foot shape

144

(2)

McKibben muscles as adjustable springs

146

(2)

Pneumatic system

148

(1)

Pressure control unit

149

(2)

Walking experiments

151

(2)

Conclusion

153

(2)

Learning Energy-Efficient Walking with Ballistic Walking

155

(10)

Masaki Ogino

Koh Hosoda

Minoru Asada

Introduction

155

(1)

Ballistic walking with state machine

156

(3)

Energy minimization by a learning module

159

(2)

Comparing with human data

161

(2)

Discussion

163

(2)

Motion Generation and Control of Quasi Passsive Dynamic Walking Based on the Concept of Delayed Feedback Control

165

(12)

Yasuhiro Sugimoto

Koichi Osuka

Introduction

165

(1)

Model of the walking robot

166

(1)

Stability of passive dynamic walking

167

(1)

DFC-based control method

168

(3)

Computer simulation

171

(3)

Conclusion and future work

174

(3)

Part 5 Neuro-Mechanics & CPG and/or Reflexes

Gait Transition from Swimming to Walking: Investigation of Salamander Locomotion Control Using Nonlinear Oscillators

177

(12)

Auke Jan Ijspeert

Jean-Marie Cabelguen

Introduction

177

(1)

Neural control of salamander locomotion

178

(1)

Mechanical simulation

179

(1)

Locomotion controller

180

(6)

Discussion

186

(3)

Nonlinear Dynamics of Human Locomotion: from Real-Time Adaptation to Development

189

(16)

Gentaro Taga

Introduction

189

(1)

Real-time adaptation of locomotion through global entrainment

190

(5)

Anticipatory adjustment of locomotion through visuo-motor coordination

195

(2)

Computational ``lesion'' experiments in gait pathology

197

(2)

Freezing and freeing degrees of freedom in the development of locomotion

199

(2)

Concluding comments

201

(4)

Towards Emulating Adaptive Locomotion of a Quadrupedal Primate by a Neuro-musculo-skeletal Model

205

(12)

Naomichi Ogihara

Nobutoshi Yamazaki

Introduction

205

(1)

Model

206

(5)

Results

211

(3)

Discussion

214

(3)

Dynamics-Based Motion Adaptation for a Quadruped Robot

217

(10)

Hiroshi Kimura

Yasuhiro Fukuoka

Introduction

217

(1)

Adaptive dynamic walking based on biological concepts

218

(3)

Entrainment between pitching and rolling motions

221

(2)

Adaptive walking on irregular terrain

223

(2)

Conclusion

225

(2)

A Turning Strategy of a Multi-legged Locomotion Robot

227

(10)

Kazuo Tsuchiya

Shinya Aoi

Katsuyoshi Tsujita

Introduction

227

(1)

Model

228

(1)

Stability analysis of walking

229

(5)

Turning walk control

234

(1)

Conclusion

235

(2)

A Behaviour Network Concept for Controlling Walking Machines

237

(12)

Jan Albiez

Tobias Luksch

Karsten Berns

Rudiger Dillmann

Introduction

237

(1)

Activation, activity, target rating and behaviours

238

(3)

The walking machine BISAM

241

(1)

Implementing a behaviour network

242

(1)

Conclusion and outlook

243

(6)

Part 6 Adaptation at Higher Nervous Level

Control of Bipedal Walking in the Japanese Monkey, M. fuscata: Reactive and Anticipatory Control Mechanisms

249

(12)

Futoshi Mori

Katsumi Nakajima

Shigemi Mori

Introduction

249

(1)

Reactive control of Bp locomotion on a slanted treadmill belt

250

(3)

Reactive and anticipatory control of Bp locomotion on an obstacle-attached treadmill belt

253

(4)

Summary

257

(4)

Dynamic Movement Primitives--A Framework for Motor Control in Humans and Humanoid Robotics

261

(20)

Stefan Schaal

Introduction

261

(2)

Dynamic movement primitives

263

(6)

Parallels in biological research

269

(6)

Conclusion

275

(6)

Coupling Environmental Information from Visual System to Changes in Locomotion Patterns: Implications for the Design of Adaptable Biped Robots

281

(15)

Aftab E. Patla

Michael Cinelli

Michael Greig

Introduction

281

(1)

The twelve postulates for visual control of human locomotion

282

(2)

Challenges for applying this knowledge to building of adaptable biped robots

284

(2)

Avoiding collisions with obstacles in the travel path

286

(7)

Avoiding stepping on a specific landing area in the travel path

293

(3)

Conclusions

296


	Order Status Contact Us Help Desk Marketplace Info	Shipping Rates Return Policy Bulk Orders F.A.S.T.	Privacy Policy Legal Notices Site Security Employment	Advertise With Us Affiliate Program Business Accounts College Marketing

Need Help? eService@ecampus.com Copyright© 1999-2008
.