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

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

The rules of version to numerous environments haven't but been clarified. in addition, independent version continues to be unsolved and a heavily tough challenge in robotics. it appears, the difference skill proven via animals and that wanted by way of robots within the genuine international can't be defined or learned by way of one unmarried functionality in a keep an eye on method and mechanism. that's, variation in movement is brought about at each point in a large spectrum from the valuable neural process to the musculoskeletal system.

This ebook includes the papers chosen rigorously from the symposium AMAM2003 particularly relating version in locomotion from the perspective of robotics and neurophysiology. because of this restrict in themes followed, we think that this publication will successfully offer solid info for scientists and engineers, that's helpful to debate the rules and mechanisms underlying animals' version below unstructured environment.

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Extra resources for Adaptive Motion of Animals and Machines

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In this sense, it is a definite uncertainty. On the contrary, the real world is essentially indefinite, because it is unpredictably and dynamically changing. So it is impossible to prepare the complete information in advance, indicating an indefinite uncertainty. In the cases of indefinite uncertainty, these are always ill-posed problems. I will point out the requirements that the emergent systems should satisfy. The system should be indefinite, which is well known as the law of requisite variety proposed by Ashby.

Similarly, extensors are active during the end of flexion to brace the limb for the impact with the ground [17]. This pattern of co-activation is produced by the CPG of a functionally isolated spinal cord of the cat (figure 5), demonstrating that the pattern is intrinsic to the CPG and does not require sensory feedback or control descending from the brain. David Boothe [18] has shown several neural network models capable of generating this type of co-activation during rhythmic activity of a CPG.

H. Kimura and his colleagues demonstrate that this principle can effectively be applied to a quadrupedal robot to produce stable walking even when subjected to unexpected perturbations [16]. Cf. Kimura’s presentation for dynamic integration of sensory feedback to step over obstacles and over irregular terrain. 3 Smart sensors – muscle stretch receptors The typical stretch receptors for mammalian muscles, also offer potential for robotics. These receptors are part of complex structure called the spindle organ (cf.

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