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

This e-book includes the papers chosen conscientiously from the symposium AMAM2003 particularly touching on model in locomotion from the point of view of robotics and neurophysiology. because of this limit in themes followed, we predict that this e-book will successfully supply solid details for scientists and engineers, that is priceless to debate the rules and mechanisms underlying animals' model below unstructured environment.

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Extra resources for Adaptive Motion of Animals and Machines

Example text

In the case of robot in the real world, to attain the purpose a robot is usually required to solve the inverse problem adjusting the changes of the real world. It is always an ill-posed problem. When the robot autonomously solves the ill-posed problem, some proper constraints should be self-organized in the robot. In addition to the self-organization of the constraints, the robot is required to satisfy the constraints in real time. Here we propose a new real-time control mechanism for the purposive movements of a robot under the unpredictably changing environment.

This value can deliberately be changed from one moment to the next. No further calculations are necessary. The introduction of the local band-pass filtered positive feedback in 12 of the 18 leg joints provides a control system which as far as we can see cannot be further simplified, because it is decentralized down to the level of the single joints. This simplification has the side effect that computation time can be minimized. The essential advantage, however, is that, by means of this simplification and the consideration of physical properties of the body and the environment, all problems mentioned above (Sect.

Optimization of model’s parameters. Neural Networks 11, 1449-1460 7. Cruse, H, and Bartling, C (1995) Movement of joint angles in the legs of a walking insect, Carausius morosus. J. Insect Physiol. 41, 761-771 8. Cruse, H, Bartling, C, Dean, J, Kindermann, T, Schmitz, J, Schumm, M, and Wagner, H (1996) Coordination in a six-legged walking system: simple solutions to complex problems by exploitation of physical properties. ) From animals to animats 4. Cambridge MA, MIT Press, pp. 84-93 9. Dean, J.

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