Download Multi-Locomotion Robotic Systems: New Concepts of by Toshio Fukuda, Yasuhisa Hasegawa, Kosuke Sekiyama, Tadayoshi PDF

By Toshio Fukuda, Yasuhisa Hasegawa, Kosuke Sekiyama, Tadayoshi Aoyama

These days, a number of consciousness were paid on a robotic operating within the human dwelling setting, corresponding to within the box of clinical, welfare, leisure and so forth. quite a few sorts of researches are being performed actively in quite a few fields comparable to synthetic intelligence, cognitive engineering, sensor- expertise, interfaces and movement keep watch over. sooner or later, it really is anticipated to gain tremendous excessive sensible human-like robotic via integrating applied sciences in a number of fields together with these kinds of researches. The publication represents new advancements and advances within the box of bio-inspired robotics learn introducing the state-of-the-art, the belief of multi-locomotion robot method to enforce the variety of animal movement. It covers theoretical and computational features of Passive Dynamic self sufficient regulate (PDAC), robotic movement keep an eye on, multi legged strolling and hiking in addition to brachiation focusing concrete robotic structures, elements and functions. furthermore, gorilla kind robotic structures are defined as of Multi-Locomotion robot method. it truly is worthy for college kids and researchers within the box of robotics often, bio-inspired robots, multi-modal locomotion, legged jogging, movement keep watch over, and humanoid robots. moreover, it's also of curiosity for academics and engineers in perform construction platforms cooperating with people.

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Extra resources for Multi-Locomotion Robotic Systems: New Concepts of Bio-inspired Robotics (Springer Tracts in Advanced Robotics)

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7). This method does not guarantee the optimal solution and the state of the network is sometimes stuck in a local minimum, since the transition of the Hopfield network is sometimes stuck in a local 38 1 Introduction minimum, since the transition of the Hopfield network is based on the least mean square algorithm [302]. However, it is reported that quasi-optimal solutions were often obtained [204]. 3 Simulated Annealing and Boltzmann Machine Fig. 11 shows an energy landscape in which S2 is a local minimum and S1 is a global minimum.

Analyzed the 3-D dynamics of passive biped aiming at expansion of planar passive walking, which was realized in the sagittal plane, to 3-D passive walking by applying the lateral sway motion like human[44]. They built the robot satisfying the desirable parameter for 3-D passive biped and achieved 3-D passive walking. Collins et al. proposed the mechanism to utilize potential energy for not only the forward motion in the sagittal plane but lateral sway motion[47]. They adjusted the physical parameters of the robot experimentally and realized 3-D passive dynamic walking first in the world.

3 Bio-inspired System 33 The neuron output function f (x) often uses the two-valued function of 1 and 0 using threshold fend-limiter, or the sigmoid function that is a continuous and nonlinear function (Fig. 7) [238]. A conventional sigmoid function is represented by following equations: f (x) = 1 1 + e−ax (0 < f (x) < 1). 2) A tanh function is often used instead of the conventional sigmoid function since the output value of the sigmoid function is positive while that of the tanh function being both positive and negative.

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