Adaptive Motion of Animals and Machines by Hiroshi Kimura, Kazuo Tsuchiya, Akio Ishiguro, Hartmut Witt

By Hiroshi Kimura, Kazuo Tsuchiya, Akio Ishiguro, Hartmut Witt

The rules of model to varied environments haven't but been clarified. moreover, independent model continues to be unsolved and a heavily tricky challenge in robotics. it appears, the variation skill proven via animals and that wanted via robots within the actual international can't be defined or discovered via one unmarried functionality in a keep watch over method and mechanism. that's, version in movement is prompted at each point in a large spectrum from the valuable neural approach to the musculoskeletal system.

This e-book comprises the papers chosen rigorously from the symposium AMAM2003 particularly referring to version in locomotion from the point of view of robotics and neurophysiology. because of this limit in themes followed, we think that this publication will successfully offer reliable info for scientists and engineers, that's priceless to debate the foundations and mechanisms underlying animals' edition less than unstructured environment.

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Extra resources for Adaptive Motion of Animals and Machines

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5. 5 in the tripod gait but differs in the tetrapod gait (after [2]). errors in leg placement; another has to do with distributing propulsive force among the legs. The other four are used in the present model. The beginning of a swing movement, and therefore the end-point of a stance movement (PEP), is modulated by three mechanisms arising from ipsilateral legs: (1) a rostrally directed inhibition during the swing movement of the next caudal leg, (2) a rostrally directed excitation when the next caudal leg begins active retraction, and (3) a caudally directed influence depending upon the position of the next rostral leg.

The phase relationship between the hind and the front drastically changes as the walking velocity increases. As increases the velocity, our robot shows that the front and the hind legs move simultaneously, called tripod gait as reported previously. In this model, the structure of leg is composed of only two muscles, flexor and extensor muscles, so the movements of legs are limited to move parallel to the axis of the body. When the angle between the axis of the body and the direction of the destination is large, the walking velocity should become slower and the gait pattern is metachronal.

1983a) Influence of loading parallel to the body axis on the walking coordination of an insect. Contralateral effects. Biol. Cybern. 48:149-157 7. Getting PA. and Dekin MS. (1985) Tritonia swimming: a model system for integration within rhythmic motor systems. In: Selverston AI(ed) Model neural networks and behavior. Plenum Press. New York, pp 3-20 8. , Akiyama M. , (2000). Emergent mechanisms in multiple pattern generations of the lobster pyloric network. Biol. Cybern. 82443-454 9. , (1989). Leg coordination in the stick insect Carausius morosus J.

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