Multi-Locomotion Robotic Systems: New Concepts of Bio-inspired Robotics (Springer Tracts in Advanced Robotics)
Toshio Fukuda, Yasuhisa Hasegawa, Kosuke Sekiyama, Tadayoshi Aoyama
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Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as hardware of Multi-Locomotion Robotic system. It is useful for students and researchers in the field of robotics in general, bio-inspired robots, multi-modal locomotion, legged walking, motion control, and humanoid robots. Furthermore, it is also of interest for lecturers and engineers in practice building systems cooperating with humans.
determine the number of neurons (particularly for the hidden layer) in the network. Nevertheless, it is very meaningful that the hidden layer was introduced and multi-layered to allow problems such as the EX-OR classification to be solved. This cannot be implemented by perceptrons. 188.8.131.52 Mapping and Generalization Capabilities of Networks The network shown in Fig. 1.9 is a mapping model from m inputs to n outputs variables. Funahashi  indicates that any multi-variable function can be
Aoyama Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics ABC Authors Prof. Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Assoc. Prof. Yasuhisa Hasegawa Department of Information Interaction Technologies University of Tsukuba Tsukuba Japan Assoc. Prof. Kosuke Sekiyama Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Assist. Prof. Tadayoshi Aoyama Department of System Cybernetics Hiroshima University
continuous irregular ladder brachiation with the Gorilla Robot III. Chapter 5 Quadruped Walking 5.1 5.1.1 Realization of a Crawl Gait Motion Design of a Crawl Gait Keeping static stability is necessary condition in order to realize a crawl gait. Thus, a torso is moved so that center of gravity (COG) exists in the support polygon formed by support legs. Y -coordinate of the landing position of each leg is set as constant in the Cartesian coordinate system fixed on a ground as shown in Fig.
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the control algorithm to make it useful for control of other robots. Chapter 8 Locomotion Transition Based on Walking Stabilization Norm Using Bayesian Network 8.1 Introduction In this chapter, we aim to realize robust locomotion in unknown test courses, so robots recognize a slope or a step and plan to locomotion. In the next place they need to know whether they realize the plan or not. In robotics system there is uncertainness. Since it influence on realization of performance, we have to