Download or read book A Model of Central Pattern Generators for Quadruped Locomotion written by Pietro-Luciano Buono and published by . This book was released on 1998 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Oscillator Driven Central Pattern Generator CPG System for Animating Quadruped Locomotion written by Zeeshan Bhatti and published by . This book was released on 2015 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis work proposes a unique framework for generating quadruped animation of various locomotion gaits and patterns using a dual layer of hybrid mathematical model. Animation has become an integral part of everyday entertainment industry from games, movies, television to scientific research and development. Creating animation of quadrupeds is an extremely long and tedious process through key-framing. Motion capture data for multiple gait types is not so commonly available for quadruped animals and this processes itself is expensive both financially and in skill required. In this research, a two tier based procedurally generated animation framework is proposed which is able to simulate various quadruped locomotion gaits using procedural programming techniques. Initially a detailed motion analysis study was done to understand the biomechanics of quadruped gait patterns and footfall timing. The gait types which were studied consists of walk, trot, gallop, canter, pace, and rack for 4 primary animals including Horse, Lion, Tiger and Cat. The basic quadruped skeletal model is automatically rigged using procedural rigging techniques and custom manipulator are incorporated for higher level control of generated simulation by the user. The animation system model consists of a oscillator based Central Pattern Generator (CPG) which is able to produce couple leg oscillation derived through user controlled parameters, producing in-phase and out-of-phase leg swing motion curves. Each leg has a separate CPG unit that is able to generate and control the swing and stance phases of each gait cycle with couple oscillation, having a time shift in correspondence to each leg, in a permuted symmetry. The dynamic motion is calculated independently for each body part with user interaction and control over the speed, frequency and oscillation of body parts individually through a UI, during runtime, for high divergence control of the simulation. The user can manipulate the simulation parameters for leg impact phases and duration at runtime and our system will automatically adjust the motion gaits and transitions between each gaits at runtime. Our procedural model for animating quadrupeds is able to generate various locomotion gaits with varying speed and footfall pattern dynamically. The various gaits produced by the CPG system are, walk, trot, gallop, canter, pace, pronk and rack, along with turning around in any specified direction, moving up on a hill or coming down from uneven terrain, crouching and crawling. Various gait and footfall timing test are performed to test and validate the motion, along with a study of user's perception test to determine a Visual Mean Opinion Score (VMOS) of the believability and accuracy of the generated animation with statistical significance. The test and validation of the generated motion gaits shows that the system accuracy and believability rate is at 84% with VMOS of 4.1 out of 5, which is a very pleasing and satisfactory outcome for this generic animation framework. The potential application area of this research work could be in CGI Movies, 3D Animated Movies, Game Animations, Special Effects, Character Simulations and Virtual Reality applications.
Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
Download or read book Neural Control of Locomotion written by Robert Herman and published by Springer. This book was released on 2017-05-04 with total page 814 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. Presents state-of-the-art control approaches with biological relevance Provides a thorough understanding of the principles of organization of biological locomotion Teaches the organization of complex systems based on low-dimensional motion concepts/control Acts as a guideline reference for future robots/assistive devices with legged architecture Includes a selective bibliography on the most relevant published articles
Download or read book Bio inspired Optimal Locomotion Reconfigurability of Quadruped Rovers Using Central Pattern Generators written by Murtaza Mahommedali Bohra and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Quadrupedal Locomotion written by Pablo González de Santos and published by Springer Science & Business Media. This book was released on 2007-02-17 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.
Download or read book Towards Autonomous Robotic Systems written by Charles Fox and published by Springer Nature. This book was released on 2021-10-30 with total page 451 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume LNAI 13054 constitutes the refereed proceedings of the 22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021, held in Lincoln, UK, in September 2021.*The 45 full papers were carefully reviewed and selected from 66 submissions. Organized in the topical sections "Algorithms" and "Systems", they discuss significant findings and advances in the following areas: artificial intelligence; mechatronics; image processing and computer vision; special purpose and application-based systems; user interfaces and human computer interaction. * The conference was held virtually due to the COVID-19 pandemic.
Download or read book Advancing Artificial Intelligence through Biological Process Applications written by Porto Pazos, Ana B. and published by IGI Global. This book was released on 2008-07-31 with total page 460 pages. Available in PDF, EPUB and Kindle. Book excerpt: As science continues to advance, researchers are continually gaining new insights into the way living beings behave and function, and into the composition of the smallest molecules. Most of these biological processes have been imitated by many scientific disciplines with the purpose of trying to solve different problems, one of which is artificial intelligence. Advancing Artificial Intelligence through Biological Process Applications presents recent advances in the study of certain biological processes related to information processing that are applied to artificial intelligence. Describing the benefits of recently discovered and existing techniques to adaptive artificial intelligence and biology, this book will be a highly valued addition to libraries in the neuroscience, molecular biology, and behavioral science spheres.
Download or read book Morphological Design and Control of a Bio Inspired Structurally Compliant Quadruped written by Dawn Hustig-Schultz and published by . This book was released on 2017 with total page 61 pages. Available in PDF, EPUB and Kindle. Book excerpt: Locomotion for all models is aided by the use of central pattern generators, feedback control via a neural network, and a two-tiered machine learning approach involving the Monte Carlo method as well as genetic evolution for parameter optimization.
Download or read book The Symmetry Perspective written by Martin Golubitsky and published by Birkhäuser. This book was released on 2012-12-06 with total page 338 pages. Available in PDF, EPUB and Kindle. Book excerpt: The framework of ‘symmetry’ provides an important route between the abstract theory and experimental observations. The book applies symmetry methods to dynamical systems, focusing on bifurcation and chaos theory. Its exposition is organized around a wide variety of relevant applications. From the reviews: "[The] rich collection of examples makes the book...extremely useful for motivation and for spreading the ideas to a large Community."--MATHEMATICAL REVIEWS
Download or read book Bio Inspired Locomotion Control of Limbless Robots written by Guoyuan Li and published by Springer Nature. This book was released on 2023-01-30 with total page 185 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a bio-inspired hierarchical control scheme step by step toward developing limbless robots capable of 3D locomotion, fast reflex response, as well as sophisticated reaction to environmental stimuli. This interdisciplinary book introduces how to combine biological concept with locomotion control of limbless robots. The special features of the book include limbless locomotion classification and control, design of biological locomotor and the integration of sensory information into the locomotor using artificial intelligence methods, and on-site demonstrations of limbless locomotion in different scenarios. The book is suitable for readers with engineering background, especially for researchers focused on bio-inspired robots.
Download or read book Central Pattern Generators as a Biologically Inspired Neural Control Mechanism for Bicycle Pedaling written by Martin M. Schultze and published by . This book was released on 2008 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamics and Bifurcation in Networks written by Martin Golubitsky and published by SIAM. This book was released on 2023-04-24 with total page 867 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, there has been an explosion of interest in network-based modeling in many branches of science. This book synthesizes some of the common features of many such models, providing a general framework analogous to the modern theory of nonlinear dynamical systems. How networks lead to behavior not typical in a general dynamical system and how the architecture and symmetry of the network influence this behavior are the book’s main themes. Dynamics and Bifurcation in Networks: Theory and Applications of Coupled Differential Equations is the first book to describe the formalism for network dynamics developed over the past 20 years. In it, the authors introduce a definition of a network and the associated class of “admissible” ordinary differential equations, in terms of a directed graph whose nodes represent component dynamical systems and whose arrows represent couplings between these systems. They also develop connections between network architecture and the typical dynamics and bifurcations of these equations and discuss applications of this formalism to various areas of science, including gene regulatory networks, animal locomotion, decision-making, homeostasis, binocular rivalry, and visual illusions. This book will be of interest to scientific researchers in any area that uses network models, which includes many parts of biology, physics, chemistry, computer science, electrical and electronic engineering, psychology, and sociology.
Download or read book Humanoid Robotics A Reference written by Prahlad Vadakkepat and published by Springer. This book was released on 2017-02-14 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.
Download or read book Phase Response Curves in Neuroscience written by Nathan W. Schultheiss and published by Springer Science & Business Media. This book was released on 2011-12-22 with total page 515 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inspired by response to a workshop at the 2008 OCNS meeting, this book tracks advances in the application of phase response (PR) analysis to the study of electrically excitable cells, focusing on applications of PR analysis in the computational neurosciences.
Download or read book Neurobiology of Motor Control written by Scott L. Hooper and published by John Wiley & Sons. This book was released on 2017-09-05 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: A multi-disciplinary look at the current state of knowledge regarding motor control and movement—from molecular biology to robotics The last two decades have seen a dramatic increase in the number of sophisticated tools and methodologies for exploring motor control and movement. Multi-unit recordings, molecular neurogenetics, computer simulation, and new scientific approaches for studying how muscles and body anatomy transform motor neuron activity into movement have helped revolutionize the field. Neurobiology of Motor Control brings together contributions from an interdisciplinary group of experts to provide a review of the current state of knowledge about the initiation and execution of movement, as well as the latest methods and tools for investigating them. The book ranges from the findings of basic scientists studying model organisms such as mollusks and Drosophila, to biomedical researchers investigating vertebrate motor production to neuroengineers working to develop robotic and smart prostheses technologies. Following foundational chapters on current molecular biological techniques, neuronal ensemble recording, and computer simulation, it explores a broad range of related topics, including the evolution of motor systems, directed targeted movements, plasticity and learning, and robotics. Explores motor control and movement in a wide variety of organisms, from simple invertebrates to human beings Offers concise summaries of motor control systems across a variety of animals and movement types Explores an array of tools and methodologies, including electrophysiological techniques, neurogenic and molecular techniques, large ensemble recordings, and computational methods Considers unresolved questions and how current scientific advances may be used to solve them going forward Written specifically to encourage interdisciplinary understanding and collaboration, and offering the most wide-ranging, timely, and comprehensive look at the science of motor control and movement currently available, Neurobiology of Motor Control is a must-read for all who study movement production and the neurobiological basis of movement—from molecular biologists to roboticists.
