Search Results 1-20 of 186

  • Development of Quadruped Robot That Can Exploit Flexible Shoulder Hammock Structure  [in Japanese]

    FUKUHARA Akira , GUNJI Megu , MASUDA Yoichi , TADAKUMA Kenjiro , ISHIGURO Akio

    … On the other hand, animal morphology is sophisticated and has obtained heterogeneity along the cephalocaudal direction, realizing adaptive locomotion. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020(0), 2P2-H17, 2020

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  • Development of a Rimless Wheeled Robot That Enables Adaptive and Energy-efficient Locomotion

    HAN Jihui , CHAI Jiazheng , OWAKI Dai , HAYASHIBE Mitsuhiro

    … Controller design that enables adaptive locomotion to the environment has rarely been studied so far. … This paper investigated whether the rimless wheel can realize both adaptive and energy efficient function. … Experimental results show that our adaptive control approach, in which locomotion velocity is modified online through auto-classification of the slopes, allows the rimless wheeled robot to achieve the energy efficiency.</p> …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020(0), 2A1-N01, 2020

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  • Inter-limb Coordination Mechanism of Multi-legged Robot that Shows Flexible Gait Changes in Response to Environment  [in Japanese]

    TAKANO Shunsuke , YASUI Kotaro , KANO Takeshi , KOBAYASHI Ryo , ISHIGURO Akio

    … Clarifying the underlying control mechanism for walking will help not only contribute to biology but also develop highly adaptive multi-legged robots. … We previously observed the centipedes' response to the removal of a part of the terrain during walking and reported that the adaptive locomotion could be generated by a control mechanism using ground reaction forces detected at the legs. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020(0), 2A1-K02, 2020

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  • Sprawling Quadruped Robot Driven by Decentralized Control That Coordinates Leg and Body Motions  [in Japanese]

    Suzuki Shura , Kano Takeshi , Ijspeert Auke J. , Ishiguro Akio

    … <p>Sprawling locomotion is a quadruped walking gait with lateral body bending used by salamanders, lizards, and crocodiles and so on. … It presents an interesting example of how quadrupeds coordinate their legs and other body parts such as the trunk, head, and tail for adaptive locomotion, i.e., an interesting example of body–limb coordination. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020(0), 2A1-K01, 2020

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  • Decentralized Control Mechanism Underlying Polychaetes Locomotion That Adaptively Utilizes Undulatory and Peristaltic Motions  [in Japanese]

    KANNO Takeru , YASUI Kotaro , KANO Takeshi , ISHIGURO Akio

    … Clarifying the control mechanism underlying such adaptive locomotion of polychaetes can contribute to developing multi-legged robots that can move effectively in various environments by the flexible coordination of many body parts. … In this study, we observed the locomotion of polychaetes when a part of their bodies was placed in a narrow space, and found that the motions of each body segment adaptively changed in response to the situations. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020(0), 2A1-K05, 2020

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  • Development of Quadruped Robot for Stable and Adaptive High-Speed Running  [in Japanese]

    BABA Tomoyuki , SUZUKI Shura , FUKUHARA Akira , KANO Takeshi , ISHIGURO Akio

    … <p>Quadrupeds exhibit versatile gait patterns in response to locomotion speed. … In our previous study, we designed a simple leg-control rule that can exhibit gait transition from walk to gallop according to locomotion speed. … However, high-speed locomotion was not realized due to lack of jumping motion. … As simulation results, we succeeded in realizing jump and widening the range of locomotion speed. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020(0), 2A1-K03, 2020

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  • Autonomous gait modulation in a cat hind leg simulation model based on the spinal nervous system  [in Japanese]

    HABU Yasushi , ISHIHARA Junnya , INOUE Kouta , OGURA Satoshi , FUKUOKA Yasuhiro

    … <p>This study aims to design a nervous system model to drive the realistic muscle-driven legs for quadrupedal robot locomotion. … We apply a two-level central pattern generator (CPG) for each leg, which generates locomotion rhythms and reproduces cat-like leg trajectories by driving different sets of the muscles at any timing during one cycle of moving the leg. …

    Transactions of the JSME (in Japanese) 86(890), 19-00312-19-00312, 2020

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  • Decentralized Control Mechanism Underlying Adaptive and Versatile Locomotion of Snakes  [in Japanese]

    KANO Takeshi , ISHIGURO Akio

    … Specifically, snakes have various locomotion patterns (scaffold-based locomotion, concertina locomotion etc.) and change them in response to the environment. …

    Seibutsu Butsuri 60(5), 272-275, 2020

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  • Dynamic neural computation during movement  [in Japanese]

    FUJIWARA Terufumi

    <p>脳は視覚や聴覚といった感覚信号を処理し，適切な行動を出力する。これまで多くの研究で脳の感覚中枢がどのように感覚信号を処理しているのか詳細に調べられてきた。 しかし，実際の脳の中で起こっていることはもっと複雑である。それは，私たちは普段そういった感覚情報を実験動物のように麻酔下で静的に処理しているのではなく，運動中にリアルタイムでかつダイナミックに処理しているからである。そのような …

    Hikaku seiri seikagaku(Comparative Physiology and Biochemistry) 37(1), 62-69, 2020

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  • Perceptual-motor control for maintaining balance  [in Japanese]

    樋口 貴広

    理学療法の科学と研究 = The science and research of physical therapy 10(1), 3-7, 2019

    Ichushi Web 

  • Decentralized Control of a Hexapod Robot Capable of Generating Walking Motion in Response to the Slipperiness of the Terrain  [in Japanese]

    SUDA Wataru , YASUI Kotaro , FUKUHARA Akira , KANO Takeshi , ISHIGURO Akio

    … Although we previously proposed a simple decentralized control scheme using local feedback based on ground reaction force, the control mechanism underlying adaptive foot trajectory in insects' locomotion has not yet been clarified. … To reveal the control mechanism in adaptive foot trajectory, this study conducted biological experiments in which crickets walk up against a slope with inhomogeneous frictional coefficient. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019(0), 2P2-F06, 2019

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  • Development of Robotic Platform for Investigating Adaptive Motor Control Mechanism in Plesiosaurs Locomotion  [in Japanese]

    SATO Mitsutoshi , FUKUHARA Akira , SATO Tamaki , SELLERS William , ISHIGURO Akio

    … However, the adaptive locomotor patterns of plesiosaurs is still unclear. … To reveal their locomotion, we introduce a perspective of control principle underlying adaptive animals' behaviors. … This is because producing adaptive behaviors that respond to surrounding environments and morphology could be indispensable for animals of any era to survive. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019(0), 2P2-G04, 2019

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  • Research of Walking Control System of Myriapoda by Simulation  [in Japanese]

    WATANABE Kisato , INOUE Kousuke

    … Adaptive and efficient walking is possible for various rough ground depending on its characteristics.Myriapoda exhibit complex locomotion including mixture of forward and backward gait. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019(0), 2A2-R05, 2019

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  • Autonomous Speed Adaptation by a Simulated Cat's Hind Legs and Evaluation of the Controller  [in Japanese]

    HABU Yasushi , INOUE Kouta , OGURA Satoshi , FUKUOKA Yasuhiro

    … <p>A major goal of this study is to design the nervous system model for quadrupedal locomotion. … We apply a two-level central pattern generator (CPG) to our nervous system model, which generates locomotion rhythm and reproduces leg trajectories. … When the locomotion speed of this model was forcibly increased by an external force, this model autonomously adapted to its speed and kept walking despite not changing any nervous system parameters. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019(0), 2A1-G10, 2019

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  • Adaptive hindlimb split-belt treadmill walking in rats by controlling basic muscle activation patterns via phase resetting

    Fujiki Soichiro , Aoi Shinya , Funato Tetsuro , Sato Yota , Tsuchiya Kazuo , Yanagihara Dai

    … To investigate the adaptive locomotion mechanism in animals, a split-belt treadmill has been used, which has two parallel belts to produce left–right symmetric and asymmetric environments for walking. … Spinal cats walking on the treadmill have suggested the contribution of the spinal cord and associated peripheral nervous system to the adaptive locomotion. …

    Scientific Reports (8), 2018-11-26

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  • Decentralized Control Scheme That Well-integrates Peristaltic Movement with Friction Control  [in Japanese]

    KANTO Daiki , IWAMOTO Mayuko , KANO Takeshi , ISHIGURO Akio

    … <p>Several animals such as snails and earthworms exhibit crawling locomotion by propagating the bodily wave of expansion and contraction to adapt to various environments. … In this locomotion, not only expansion and contraction of the body but also friction with the environment is considered to be an important factor. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-E16, 2018

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  • Experimental Verification of Hierarchical Decentralized Control Underlying Ophiuroid Locomotion  [in Japanese]

    KANAUCHI Daichi , KANO Takeshi , ISHIGURO Akio

    … To tackle this problem, we have been investigating on an ophiuroid as our model, since it exhibits highly adaptive and resilient locomotion even though it is composed of primitive and decentralized nervous system. … Clarifying the control principle underlying ophiuroid locomotion is expected to provide us a novel design scheme for building highly adaptive and resilient robots. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-D15, 2018

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  • Development of Centipede-like Robot Based on Decentralized Control Utilizing Body Undulation  [in Japanese]

    FURUKAWA Kazuki , YASUI Kotaro , KANO Takeshi , ISHIGURO Akio

    … Clarifying the underlying control mechanism will help not only to contribute to biology but also to develop highly adaptive bio-inspired robots. … However, a decentralized control mechanism that coordinates the centipede legs and the body to generate adaptive locomotion has not been elucidated. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 1P1-D17, 2018

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  • Basic study of the adaptive control for the swimming robot using self-excited oscillation  [in Japanese]

    YAMANO Akio , IJIMA Hiroshi

    … <p>Some organisms using undulatory locomotion show the transition of the swimming frequency and the wavelength of the undulation. … Inspired by this finding, we propose the adaptive control for the multilink swimming robot because the environmental change demands a mobile robot the change of the pattern of the locomotion. … Proposed adaptive control employs the sensory feedback from joint angles to inputs of actuators at joints to generate the self-excited oscillation. …

    Transactions of the JSME (in Japanese) 84(864), 18-00054-18-00054, 2018

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  • Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review

    Aoi Shinya , Manoonpong Poramate , Ambe Yuichi , Matsuno Fumitoshi , Wörgötter Florentin

    … Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. … In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). … In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. …

    Frontiers in Neurorobotics 11(39), 2017-08-23

    IR 

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