Adaptive Motion of Animals and Machines

ISBN-13: 9784431241645 / Angielski / Twarda / 2005 / 298 str.

Hiroshi Kimura; Kazuo Tsuchiya; Akio Ishiguro

Opis

The principles of adaptation to various environments have not yet been clarified. Furthermore, autonomous adaptation remains unsolved and a seriously difficult problem in robotics. Apparently, the adaptation ability shown by animals and that needed by robots in the real world cannot be explained or realized by one single function in a control system and mechanism. That is, adaptation in motion is induced at every level in a wide spectrum from the central neural system to the musculoskeletal system. This book contains the papers selected carefully from the symposium AMAM2003 particularly concerning adaptation in locomotion from the viewpoint of robotics and neurophysiology. Due to this restriction in topics adopted, we expect that this book will efficiently provide good information for scientists and engineers, which is useful to discuss the principles and mechanisms underlying animals' adaptation under unstructured environment .

Recenzje

From the reviews:

"This book, which is a collection of 23 papers presented at the first two International Symposia on Adaptive Motion in Animals and Machines (AMAM) … . This book is an outstanding collection of writings by key investigators in the field, and it is highly recommended to researchers in robotics interested in building biologically inspired machines." (G. A. Bekey, Computing Reviews, August, 2006)

Spis treści

Motion Generation and Adaptation in Animals.- Overview of Adaptive Motion in Animals and Its Control Principles Applied to Machines.- Robust Behaviour of the Human Leg.- Control of Hexapod Walking in Biological Systems.- Purposive Locomotion of Insects in an Indefinite Environment.- Control Principles for Locomotion -Looking Toward Biology.- Higher Nervous Control of Quadrupedal vs Bipedal Locomotion in Non-human Primates; Common and Specific Properties.- Adaptive Mechanics.- Interactions between Motions of the Trunk and the Angle of Attack of the Forelimbs in Synchronous Gaits of the Pika (Ochotona rufescens).- On the Dynamics of Bounding and Extensions: Towards the Half-Bound and Gallop Gaits.- Machine Design and Control.- Jumping, Walking, Dancing, Reaching: Moving into the Future. Design Principles for Adaptive Motion.- Towards a “Well-Balanced” Design: How Should Control and Body Systems be Coupled?.- Experimental Study on Control of Redundant 3-D Snake Robot Based on a Kinematic Model.- Bipedal Locomotion Utilizing Natural Dynamics.- Simulation Study of Self-Excited Walking of a Biped Mechanism with Bent Knee.- Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking.- Learning Energy-Efficient Walking with Ballistic Walking.- Motion Generation and Control of Quasi Passsive Dynamic Walking Based on the Concept of Delayed Feedback Control.- Neuro-Mechanics & CPG and/or Reflexes.- Gait Transition from Swimming to Walking: Investigation of Salamander Locomotion Control Using Nonlinear Oscillators.- Nonlinear Dynamics of Human Locomotion: from Real-Time Adaptation to Development.- Towards Emulating Adaptive Locomotion of a Quadrupedal Primate by a Neuro-musculo-skeletal Model.- Dynamics-Based Motion Adaptation for a Quadruped Robot.- A Turning Strategy of a Multi-legged Locomotion Robot.- A Behaviour Network Concept for Controlling Walking Machines.- Adaptation at Higher Nervous Level.- Control of Bipedal Walking in the Japanese Monkey, M. fuscata: Reactive and Anticipatory Control Mechanisms.- Dynamic Movement Primitives -A Framework for Motor Control in Humans and Humanoid Robotics.- Coupling Environmental Information from Visual System to Changes in Locomotion Patterns: Implications for the Design of Adaptable Biped Robots.