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

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

The foundations of edition to numerous environments haven't but been clarified. moreover, independent model is still unsolved and a heavily tricky challenge in robotics. it seems that, the variation skill proven through animals and that wanted by way of robots within the actual global can't be defined or learned via one unmarried functionality in a keep watch over method and mechanism. that's, edition in movement is prompted at each point in a large spectrum from the critical neural approach to the musculoskeletal system.

This booklet includes the papers chosen rigorously from the symposium AMAM2003 particularly relating model in locomotion from the perspective of robotics and neurophysiology. because of this restrict in themes followed, we predict that this booklet will successfully supply sturdy details for scientists and engineers, that's helpful to debate the foundations and mechanisms underlying animals' variation lower than unstructured environment.

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Extra info for Adaptive Motion of Animals and Machines

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To solve the particular problem at hand, we propose to replace a central controller with distributed control in the form of local positive feedback [8]. Compared to earlier versions [12], this change permits the stance net to be radically simplified. The positive feedback occurs at the level of single joints: the position signal of each is fed back to control the motor output of the same joint. Earlier experiments [13] have shown that body height in the stick insect is controlled by a distributed system in Control of Hexapod Walking in Biological Systems 25 Fig.

De /biologie/Kybernetik Recent results show that internal ”motivational” states are necessary in order to enable the system to react to a given stimulus in different ways depending on the actual internal state. The state itself depends on sensory input, too. References 1. Brooks, RA (1986) A robust layered control system for a mobile robot. J. Robotics and Automation 2, 1423 2. Graham, D. (1985) Pattern and control of walking in insects. Advances in Insect Physiology, 18, 31140 3. Graham, D. (1972) A behavioural analysis of the temporal organisation of walking movements in the 1st instar and adult stick insect.

Brooks, RA (1986) A robust layered control system for a mobile robot. J. Robotics and Automation 2, 1423 2. Graham, D. (1985) Pattern and control of walking in insects. Advances in Insect Physiology, 18, 31140 3. Graham, D. (1972) A behavioural analysis of the temporal organisation of walking movements in the 1st instar and adult stick insect. 81, 2352 4. , Wendler, G. (1984) Stick insect locomotion on a wheel: Patterns of stopping and starting. J. exp. Biol. 110, 203216 5. I. (1979) Adaptive locomotion of a multilegged robot over rough terrain.

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