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 rules of edition to numerous environments haven't but been clarified. additionally, self reliant edition is still unsolved and a heavily tricky challenge in robotics. it seems that, the variation skill proven by way of animals and that wanted via robots within the genuine global can't be defined or discovered via one unmarried functionality in a keep watch over process and mechanism. that's, model in movement is brought on at each point in a large spectrum from the valuable neural procedure to the musculoskeletal method. This e-book comprises the papers chosen conscientiously from the symposium AMAM2003 particularly touching on edition in locomotion from the perspective of robotics and neurophysiology. because of this limit in issues followed, we think that this ebook will successfully supply sturdy info for scientists and engineers, that is precious to debate the rules and mechanisms underlying animals' edition lower than unstructured surroundings .

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Cohen Each segmental oscillator has its own intrinsic frequency under any given set of conditions [10]. These intrinsic frequencies differ among each other. The oscillators maintain a single frequency via coupling provided by a system of ascending and descending fibers that apparently make very strong connections overall. There is also evidence that the functional connections of the fibers can be made on segments nearby or upon segments up to more than 20 segments away [11]. The fiber systems are also distributed across the width of the spinal cord [12] (figure 3).

S. Grillner, A. McClellan, and C. Perret. 1981 Entrainment of the spinal pattern generators for swimming by mechanosensitive elements in the lamprey spinal cord in vitro. , 217:380-386. 22. A. 1988 Features of entrainment of spinal pattern generators for locomotor activity in the lamprey spinal cord. J Neurosci. 8:13345. 23. Forssberg H. 1979 Stumbling corrective reaction: a phase-dependent compensatory reaction during locomotion. J. Neurophysiol. 42:936-53. 24. Rossignol et al. chapter 1988 In: Cohen, AH, Rossignol, S, Grillner, S (eds) Neural control of rhythmic movements in vertebrates.

My colleagues and I have modeled the lamprey CPG as a chain of coupled limit cycle oscillators [13]. Coupling has been modeled as a periodic function of the phase difference between any two pairs of oscillators [13, 14] Fig. 3. Functional organization of the lamprey CPG Each segment or small group of segments consists of a pair of coupled oscillators. The coupling is ascending and descending, and long and short. (adapted from ref 12) With this view of the CPG in mind, Ralph Etienne-Cummings, Johns Hopkins University, designed an analog VLSI chip to produce periodic bursting to generate the rhythmic output of an actuator for the joint of a limb.

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