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

ISBN-10: 4431241647

ISBN-13: 9784431241645

The foundations of variation to varied environments haven't but been clarified. moreover, self sufficient model is still unsolved and a heavily tough challenge in robotics. it seems that, the difference skill proven through animals and that wanted by way of robots within the actual international can't be defined or learned through one unmarried functionality in a keep watch over method and mechanism. that's, variation in movement is precipitated at each point in a large spectrum from the imperative neural method to the musculoskeletal system.

This booklet includes the papers chosen rigorously from the symposium AMAM2003 particularly pertaining to model in locomotion from the point of view of robotics and neurophysiology. because of this restrict in subject matters followed, we predict that this ebook will successfully supply strong info for scientists and engineers, that is important to debate the rules and mechanisms underlying animals' variation lower than unstructured environment.

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Cruse, V. D¨ urr, J. Schmitz, A. Schneider Fig. 3. Illustrations of the mechanisms 1 to 3 (see Fig. 5a) as shown from above to below. (Fig. 5b, ”target net”) which directly associates desired final joint angles for the swing to current joint angles of a rostral leg such that the tarsus of the posterior leg is moved in the direction of that of the anterior leg. Compared to a first version [9] the new target net has direct connection between the input and the output layer. There is no explicit calculation of either tarsus position.

507:293-304 26. N. Jaax and B. Hannaford 2002 A Biorobotic Structural Model of the Mammalian Muscle Spindle Primary Afferent Response. Ann. Biomed. Eng. Vol. 30, pp.

The walking patterns are characterized by the phase relationship among the six legs, showing the walking pattern of metachronal gait. 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.

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


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