Adaptive Motion of Animals and Machines

1. Front Matter

   Pages I-XII

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2. Motion Generation and Adaptation in Animals

   1. Front Matter

      Pages 1-1

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   2. Overview of Adaptive Motion in Animals and Its Control Principles Applied to Machines

      • Avis H. Cohen

      Pages 3-3

   3. Robust Behaviour of the Human Leg

      • Reinhard Blickhan, Andre Seyfarth, Heiko Wagner, Arnd Friedrichs, Michael Günther, Klaus D. Maier

      Pages 5-16

   4. Control of Hexapod Walking in Biological Systems

      • Holk Cruse, Volker Dürr, Josef Schmitz, Axel Schneider

      Pages 17-29

   5. Purposive Locomotion of Insects in an Indefinite Environment

      • Masafumi Yano

      Pages 31-40

   6. Control Principles for Locomotion -Looking Toward Biology

      • Avis H. Cohen

      Pages 41-51

   7. Higher Nervous Control of Quadrupedal vs Bipedal Locomotion in Non-human Primates; Common and Specific Properties

      • Shigemi Mori, Futoshi Mori, Katsumi Nakajima

      Pages 53-65

3. Adaptive Mechanics

   1. Front Matter

      Pages 67-67

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   2. Interactions between Motions of the Trunk and the Angle of Attack of the Forelimbs in Synchronous Gaits of the Pika (Ochotona rufescens)

      • Remi Hackert, Hartmut Witte, Martin S. Fischer

      Pages 69-77

   3. On the Dynamics of Bounding and Extensions: Towards the Half-Bound and Gallop Gaits

      • Ioannis Poulakakis, James Andrew Smith, Martin Buehler

      Pages 79-88

4. Machine Design and Control

   1. Front Matter

      Pages 89-89

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   2. Jumping, Walking, Dancing, Reaching: Moving into the Future. Design Principles for Adaptive Motion

      • Rolf Pfeifer

      Pages 91-106

   3. Towards a “Well-Balanced” Design: How Should Control and Body Systems be Coupled?

      • Akio Ishiguro, Kazuhisa Ishimaru, Toshihiro Kawakatsu

      Pages 107-116

   4. Experimental Study on Control of Redundant 3-D Snake Robot Based on a Kinematic Model

      • Fumitoshi Matsuno, Kentaro Suenaga

      Pages 117-128

5. Bipedal Locomotion Utilizing Natural Dynamics

   1. Front Matter

      Pages 129-129

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   2. Simulation Study of Self-Excited Walking of a Biped Mechanism with Bent Knee

      • Kyosuke Ono, Xiaofeng Yao

      Pages 131-142

   3. Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking

      • Martijn Wisse, Jan van Frankenhuyzen

      Pages 143-154

   4. Learning Energy-Efficient Walking with Ballistic Walking

      • Masaki Ogino, Koh Hosoda, Minoru Asada

      Pages 155-164

   5. Motion Generation and Control of Quasi Passsive Dynamic Walking Based on the Concept of Delayed Feedback Control

      • Yasuhiro Sugimoto, Koichi Osuka

      Pages 165-174

• 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.

• Extension
• behavior
• biologically inspired
• control
• control system
• humanoid robot
• learning
• modeling
• robot
• robotics
• simulation
• snake robot

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)

• Graduate School of Information Systems, University of Electro-Communications, Chofu, Tokyo, Japan

  Hiroshi Kimura

• Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan

  Kazuo Tsuchiya

• Department of Computational Science and Engineering, Graduate School of Engineering, Nagoya University, Nagoya, Japan

  Akio Ishiguro

• Department of Biomechatronics, Faculty of Mechanical Engineering, Technical University of Ilmenau, Ilmenau, Germany

  Hartmut Witte

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