Ebook: Adaptive Motion of Animals and Machines

• Motivation It is our dream to understand the principles of animals’ remarkable ability for adaptive motion and to transfer such abilities to a robot. Up to now, mechanisms for generation and control of stereotyped motions and adaptive motions in well-known simple environments have been formulated to some extentandsuccessfullyappliedtorobots.However,principlesofadaptationto variousenvironmentshavenotyetbeenclari?ed,andautonomousadaptation remains unsolved as a seriously di?cult problem in robotics. Apparently, the ability of animals and robots to adapt in a 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 from thecentralnervoussystemtothemusculoskeletalsystem.Thus,weorganized the International Symposium on Adaptive Motion in Animals and Machines(AMAM)forscientistsandengineersconcernedwithadaptation onvariouslevelstobebroughttogethertodiscussprinciplesateachleveland to investigate principles governing total systems. • History AMAM started in Montreal (Canada) in August 2000. It was organized by H. Kimura (Japan), H. Witte (Germany), G. Taga (Japan), and K. Osuka (Japan), who had agreed that having a small symposium on motion control, with people from several ?elds coming together to discuss speci?c issues, was worthwhile. Those four organizing committee members determined the scope of AMAM as follows.

---

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 .

---

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 .

Content:
Front Matter....Pages I-XII
Front Matter....Pages 1-1
Overview of Adaptive Motion in Animals and Its Control Principles Applied to Machines....Pages 3-3
Robust Behaviour of the Human Leg....Pages 5-16
Control of Hexapod Walking in Biological Systems....Pages 17-29
Purposive Locomotion of Insects in an Indefinite Environment....Pages 31-40
Control Principles for Locomotion -Looking Toward Biology....Pages 41-51
Higher Nervous Control of Quadrupedal vs Bipedal Locomotion in Non-human Primates; Common and Specific Properties....Pages 53-65
Front Matter....Pages 67-67
Interactions between Motions of the Trunk and the Angle of Attack of the Forelimbs in Synchronous Gaits of the Pika (Ochotona rufescens)....Pages 69-77
On the Dynamics of Bounding and Extensions: Towards the Half-Bound and Gallop Gaits....Pages 79-88
Front Matter....Pages 89-89
Jumping, Walking, Dancing, Reaching: Moving into the Future. Design Principles for Adaptive Motion....Pages 91-106
Towards a “Well-Balanced” Design: How Should Control and Body Systems be Coupled?....Pages 107-116
Experimental Study on Control of Redundant 3-D Snake Robot Based on a Kinematic Model....Pages 117-128
Front Matter....Pages 129-129
Simulation Study of Self-Excited Walking of a Biped Mechanism with Bent Knee....Pages 131-142
Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking....Pages 143-154
Learning Energy-Efficient Walking with Ballistic Walking....Pages 155-164
Motion Generation and Control of Quasi Passsive Dynamic Walking Based on the Concept of Delayed Feedback Control....Pages 165-174
Front Matter....Pages 175-175
Gait Transition from Swimming to Walking: Investigation of Salamander Locomotion Control Using Nonlinear Oscillators....Pages 177-188
Nonlinear Dynamics of Human Locomotion: from Real-Time Adaptation to Development....Pages 189-204
Towards Emulating Adaptive Locomotion of a Quadrupedal Primate by a Neuro-musculo-skeletal Model....Pages 205-216
Dynamics-Based Motion Adaptation for a Quadruped Robot....Pages 217-226
A Turning Strategy of a Multi-legged Locomotion Robot....Pages 227-236
Front Matter....Pages 175-175
A Behaviour Network Concept for Controlling Walking Machines....Pages 237-246
Front Matter....Pages 247-247
Control of Bipedal Walking in the Japanese Monkey, M. fuscata: Reactive and Anticipatory Control Mechanisms....Pages 249-259
Dynamic Movement Primitives -A Framework for Motor Control in Humans and Humanoid Robotics....Pages 261-280
Coupling Environmental Information from Visual System to Changes in Locomotion Patterns: Implications for the Design of Adaptable Biped Robots....Pages 281-298

---

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 .

Content:
Front Matter....Pages I-XII
Front Matter....Pages 1-1
Overview of Adaptive Motion in Animals and Its Control Principles Applied to Machines....Pages 3-3
Robust Behaviour of the Human Leg....Pages 5-16
Control of Hexapod Walking in Biological Systems....Pages 17-29
Purposive Locomotion of Insects in an Indefinite Environment....Pages 31-40
Control Principles for Locomotion -Looking Toward Biology....Pages 41-51
Higher Nervous Control of Quadrupedal vs Bipedal Locomotion in Non-human Primates; Common and Specific Properties....Pages 53-65
Front Matter....Pages 67-67
Interactions between Motions of the Trunk and the Angle of Attack of the Forelimbs in Synchronous Gaits of the Pika (Ochotona rufescens)....Pages 69-77
On the Dynamics of Bounding and Extensions: Towards the Half-Bound and Gallop Gaits....Pages 79-88
Front Matter....Pages 89-89
Jumping, Walking, Dancing, Reaching: Moving into the Future. Design Principles for Adaptive Motion....Pages 91-106
Towards a “Well-Balanced” Design: How Should Control and Body Systems be Coupled?....Pages 107-116
Experimental Study on Control of Redundant 3-D Snake Robot Based on a Kinematic Model....Pages 117-128
Front Matter....Pages 129-129
Simulation Study of Self-Excited Walking of a Biped Mechanism with Bent Knee....Pages 131-142
Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking....Pages 143-154
Learning Energy-Efficient Walking with Ballistic Walking....Pages 155-164
Motion Generation and Control of Quasi Passsive Dynamic Walking Based on the Concept of Delayed Feedback Control....Pages 165-174
Front Matter....Pages 175-175
Gait Transition from Swimming to Walking: Investigation of Salamander Locomotion Control Using Nonlinear Oscillators....Pages 177-188
Nonlinear Dynamics of Human Locomotion: from Real-Time Adaptation to Development....Pages 189-204
Towards Emulating Adaptive Locomotion of a Quadrupedal Primate by a Neuro-musculo-skeletal Model....Pages 205-216
Dynamics-Based Motion Adaptation for a Quadruped Robot....Pages 217-226
A Turning Strategy of a Multi-legged Locomotion Robot....Pages 227-236
Front Matter....Pages 175-175
A Behaviour Network Concept for Controlling Walking Machines....Pages 237-246
Front Matter....Pages 247-247
Control of Bipedal Walking in the Japanese Monkey, M. fuscata: Reactive and Anticipatory Control Mechanisms....Pages 249-259
Dynamic Movement Primitives -A Framework for Motor Control in Humans and Humanoid Robotics....Pages 261-280
Coupling Environmental Information from Visual System to Changes in Locomotion Patterns: Implications for the Design of Adaptable Biped Robots....Pages 281-298
....