Adaptive Motion of Animals and Machines

  • Hiroshi Kimura
  • Kazuo Tsuchiya
  • Akio Ishiguro
  • Hartmut Witte

Table of contents

  1. Front Matter
    Pages I-XII
  2. Motion Generation and Adaptation in Animals

    1. Front Matter
      Pages 1-1
    2. Reinhard Blickhan, Andre Seyfarth, Heiko Wagner, Arnd Friedrichs, Michael Günther, Klaus D. Maier
      Pages 5-16
    3. Holk Cruse, Volker Dürr, Josef Schmitz, Axel Schneider
      Pages 17-29
  3. Adaptive Mechanics

    1. Front Matter
      Pages 67-67
    2. Ioannis Poulakakis, James Andrew Smith, Martin Buehler
      Pages 79-88
  4. Machine Design and Control

  5. Bipedal Locomotion Utilizing Natural Dynamics

  6. Neuro-Mechanics & CPG and/or Reflexes

    1. Front Matter
      Pages 175-175
    2. Hiroshi Kimura, Yasuhiro Fukuoka
      Pages 217-226
    3. Kazuo Tsuchiya, Shinya Aoi, Katsuyoshi Tsujita
      Pages 227-236
    4. Jan Albiez, Tobias Luksch, Karsten Berns, Rüdiger Dillmann
      Pages 237-246
  7. Adaptation at Higher Nervous Level

About this book


• 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

Editors and affiliations

  • Hiroshi Kimura
    • 1
  • Kazuo Tsuchiya
    • 2
  • Akio Ishiguro
    • 3
  • Hartmut Witte
    • 4
  1. 1.Graduate School of Information SystemsUniversity of Electro-CommunicationsChofu, TokyoJapan
  2. 2.Department of Aeronautics and Astronautics, Graduate School of EngineeringKyoto UniversityKyotoJapan
  3. 3.Department of Computational Science and Engineering, Graduate School of EngineeringNagoya UniversityNagoyaJapan
  4. 4.Department of Biomechatronics, Faculty of Mechanical EngineeringTechnical University of IlmenauIlmenauGermany

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Tokyo 2006
  • Publisher Name Springer, Tokyo
  • eBook Packages Computer Science
  • Print ISBN 978-4-431-24164-5
  • Online ISBN 978-4-431-31381-6
  • Buy this book on publisher's site