Motion Synthesis

  • Teresa Zielinska
Part of the International Centre for Mechanical Sciences book series (CISM, volume 467)


The first industrial revolution was based on the substitution of muscle power by the power of steam engines. The next revolution, which is still in progress in our times has substituted man’s brain treated as control element of a machine by an electronic computer. The level of autonomy of actions (intelligence) is determined by the properties of mechanical structure and abilities of the control system. In animals the complexity of the nervous system is related to the complexity of the body — the more complex is the body the more advanced control it needs. This does not mean that the increase in autonomy of walking robots can be obtained only by increasing the complexity of mechanics and control. In the animal world the body structure matches the living conditions. Simple animals, with primitive bodies and control centers can survive well due to the proper spontaneous reactions (arising from an impulse, not premeditation). The mechanical structure of walking devices must be properly chosen to the assumed working conditions and the task which must be fulfilled by the device. Some actions usually produced by a sophisticated control system, can be obtained in a much simpler way by adequate mechanical design, and that often does not require the mechanics to become complex.


Gait Pattern Central Pattern Generator Couple Oscillator Support Phase Load Torque 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag Wien 2004

Authors and Affiliations

  • Teresa Zielinska
    • 1
  1. 1.Department of Power and Mechanical EngineeringWarsaw University of TechnologyWarsawPoland

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