Adaptive Motion of Animals and Machines

Contents......Page 7
Part 1: Motion Generation and Adaptation in Animals......Page 13
Overview of Adaptive Motion in Animals and Its Control Principles Applied to Machines......Page 14
1 Introduction......Page 15
2 Results......Page 16
3 Perspective......Page 24
1 Walking: a nontrivial behavior......Page 27
3 Control of the selector network: coordination between legs......Page 29
4 Control of the swing movement......Page 31
5 Control of the stance movement and coordination of supporting legs......Page 34
6 Conclusion......Page 36
1 Introduction......Page 40
2 Motion control system......Page 41
3 Central pattern generator model......Page 44
5 Discussion......Page 47
2 CPG and muscle activation......Page 50
3 Sensory feedback......Page 54
4 Summary and conclusions......Page 58
1 Introduction......Page 61
2 Locomotor control CNS mechanisms including anticipatory and reactive control mechanisms......Page 62
3 Emergence, acquisition and refinement of Bp locomotion in Juvenile Japanese monkeys......Page 64
4 Common and different control properties of Qp and Bp locomotion......Page 66
5 Similarity and difference in the kinematics of lower limbs during Bp walking between our monkey model and the human......Page 67
6 Summary and discussion......Page 68
Part 2: Adaptive Mechanics......Page 74
Interactions between Motions of the Trunk and the Angle of Attack of the Forelimbs in Synchronous Gaits of the Pika......Page 75
2 Preliminiary question: do pikas prefer one forelimb as trailing limb?......Page 76
3 Trajectories of the centre of mass of pikas in half-bound gait......Page 78
4 Does the angle of attack couple with speed?......Page 80
5 Conclusions......Page 81
1 Introduction......Page 84
2 Bounding experiments with Scout II......Page 85
3 Self-stabilization in the SLIP......Page 86
4 Modeling the Bounding Gait......Page 87
6 The half-bound and rotary gallop gaits......Page 90
7 Conclusion......Page 93
Part 3: Machine Design and Control......Page 94
1 Introduction......Page 95
2 Design principles: overview......Page 97
3 Information theoretic implications of embodiment......Page 101
4 Exploring \"ecological balance\"—artificial evolution and morphogenesis......Page 106
5 Discussion and conclusions......Page 108
1 Introduction......Page 111
2 Lessons from biological findings......Page 112
3 The model......Page 113
4 Proposed method......Page 114
5 Preliminary simulation results......Page 115
6 Conclusion and future work......Page 118
1 Introduction......Page 121
3 Kinematic model of snake robots......Page 123
4 Condition for redundancy controllable system......Page 126
5 Controller design for main-objective......Page 127
6 Controller design for sub-objective......Page 128
8 Conclusion......Page 129
Part 4: Bipedal Locomotion Utilizing Natural Dynamics......Page 133
1 Introduction......Page 134
2 The analytical model and basic equations......Page 135
3 The results of simulation......Page 138
4 Conclusion......Page 143
1 Introduction......Page 146
2 Foot shape......Page 147
3 McKibben muscles as adjustable springs......Page 149
4 Pneumatic system......Page 151
5 Pressure control unit......Page 152
6 Walking experiments......Page 154
7 Conclusion......Page 156
1 Introduction......Page 158
2 Ballistic walking with state machine......Page 159
3 Energy minimization by a learning module......Page 162
4 Comparing with human data......Page 164
5 Discussion......Page 166
1 Introduction......Page 168
2 Model of the walking robot......Page 169
3 Stability of passive dynamic walking......Page 170
4 DFC-based control method......Page 171
5 Computer simulation......Page 174
6 Conclusion and future work......Page 177
Part 5: Neuro-Mechanics & CPG and/or Reflexes......Page 178
1 Introduction......Page 179
2 Neural control of salamander locomotion......Page 180
3 Mechanical simulation......Page 181
4 Locomotion controller......Page 182
5 Discussion......Page 188
1 Introduction......Page 191
2 Real-time adaptation of locomotion through global entrainment......Page 192
3 Anticipatory adjustment of locomotion through visuo-motor coordination......Page 197
4 Computational \"lesion\" experiments in gait pathology......Page 199
5 Freezing and freeing degrees of freedom in the development of locomotion......Page 201
6 Concluding comments......Page 203
1 Introduction......Page 207
2 Model......Page 208
3 Results......Page 213
4 Discussion......Page 216
1 Introduction......Page 219
2 Adaptive dynamic walking based on biological concepts......Page 220
3 Entrainment between pitching and rolling motions......Page 223
4 Adaptive walking on irregular terrain......Page 225
5 Conclusion......Page 227
1 Introduction......Page 229
2 Model......Page 230
3 Stability analysis of walking......Page 231
4 Turning walk control......Page 236
5 Conclusion......Page 237
1 Introduction......Page 239
2 Activation, activity, target rating and behaviours......Page 240
3 The walking machine BISAM......Page 243
4 Implementing a behaviour network......Page 244
5 Conclusion and outlook......Page 245
Part 6: Adaptation at Higher Nervous Level......Page 249
1 Introduction......Page 250
2 Reactive control of Bp locomotion on a slanted treadmill belt......Page 251
3 Reactive and anticipatory control of Bp locomotion on an obstacle-attached treadmill belt......Page 254
4 Summary......Page 258
1 Introduction......Page 261
2 Dynamic movement primitives......Page 263
3 Parallels in biological research......Page 269
4 Conclusion......Page 275
1 Introduction......Page 281
2 The twelve postulates for visual control of human locomotion......Page 282
3 Challenges for applying this knowledge to building of adaptable biped robots......Page 284
4 Avoiding collisions with obstacles in the travel path......Page 286
5 Avoiding stepping on a specific landing area in the travel path......Page 293
6 Conclusions......Page 296