503 research outputs found
Gravity-dependent walk-run transition via saddle-node bifurcation and cusp catastrophe
No full textThe data used in Mau Adachi, Kazuo Tsuchiya, and Shinya Aoi, Gravity-dependent walk-run transition via saddle-node bifurcation and cusp catastrophe, Physical Review Research, 7, 013303 (2025). DOI: https://doi.org/10.1103/PhysRevResearch.7.01330
Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation
No full textAoi Shinya, Yabuuchi Yuki, Morozumi Daiki, et al. Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation. Soft Robotics 6, NT64 (2023); https://doi.org/10.1089/soro.2022.0177
Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review
No full textWalking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. 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. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots
Prandtl number effects on the decaying and the forced turbulence in stratified fluids
No full textEffects of high-Prandtl number density-stratifying scalar, i.e., active scalar, on decaying and forced turbulence in stratified fluids are investigated by numerical simulations. In decaying turbulence, potential energy spectrum of the high-Prandtl number active scalar (Pr=6) agrees with the kinetic energy spectrum even at small scales. In forced steady turbulence, these two spectra again approach each other at small scales. These phenomena, which are in disagreement with the Batchelor scaling for a high-Schmidt number passive scalar, occur at scales even smaller than the Ozmidov scale, suggesting that these effects would not be negligible in general
Simple analytical model reveals the functional role of embodied sensorimotor interaction in hexapod gaits
No full textInsects have various gaits with specific characteristics and can change their gaits smoothly in accordance with their speed. These gaits emerge from the embodied sensorimotor interactions that occur between the insect’s neural control and body dynamic systems through sensory feedback. Sensory feedback plays a critical role in coordinated movements such as locomotion, particularly in stick insects. While many previously developed insect models can generate different insect gaits, the functional role of embodied sensorimotor interactions in the interlimb coordination of insects remains unclear because of their complexity. In this study, we propose a simple physical model that is amenable to mathematical analysis to explain the functional role of these interactions clearly. We focus on a foot contact sensory feedback called phase resetting, which regulates leg retraction timing based on touchdown information. First, we used a hexapod robot to determine whether the distributed decoupled oscillators used for legs with the sensory feedback generate insect-like gaits through embodied sensorimotor interactions. The robot generated two different gaits and one had similar characteristics to insect gaits. Next, we proposed the simple model as a minimal model that allowed us to analyze and explain the gait mechanism through the embodied sensorimotor interactions. The simple model consists of a rigid body with massless springs acting as legs, where the legs are controlled using oscillator phases with phase resetting, and the governed equations are reduced such that they can be explained using only the oscillator phases with some approximations. This simplicity leads to analytical solutions for the hexapod gaits via perturbation analysis, despite the complexity of the embodied sensorimotor interactions. This is the first study to provide an analytical model for insect gaits under these interaction conditions. Our results clarified how this specific foot contact sensory feedback contributes to generation of insect-like ipsilateral interlimb coordination during hexapod locomotion.</div
Design Principle for Legged Robots that Have Environmental Adaptability(<Special Issue>New Trends of Design Theory for Dynamical Systems with Semiosis)
No full textThe Femme Fatale and the Exotic Queer within Shinya Tuskamoto\u27s Tetsuo: Gender as Narrative Tool within an Allegory for Post WWII Japan\u27s Industrialized Identity Crisis
No full textWithin Shinya Tsukamoto’s seminal independent horror masterpiece Tetsuo, the viewer’s perceptions of reality and the present are distorted within a temporally disjointed blend of horrific fantasy and banal existence; this instability reflects the vocal and subconscious critiques of historical ontological truths exhibited within the emergent transnational genres of Japanese cyberpunk and American Avant-pop ideologies of the late 1980’s. Author Takayuki Tatsumi uses Shinya Tsukamoto\u27s Tetsuo to illustrate the emergence of the Japanoid, a technologically driven fusion of American and Japanese post-war identity best understood as a manifestation of Donna Haraway\u27s socio-political cyborg. Tatsumi strongly advises avoiding interpretation through a queer lens, proposing that the use of “cyborg” and scrap iron serve as an analogy for the stratification and integration of disenfranchised post WWII Okinawan “scrap apaches.” However, Tetsuo’s prominent homoerotic elements cannot be ignored. Arguably, The film presents as blatantly non-heteronormative; to ignore queerness and instead focus solely on Tatsumi\u27s definition of identity ignores the meaning of masculinity in a patriarchal culture, rendering an incomplete (post)colonial reading. A queer reading clarifies Tsukamoto\u27s take on the contemporary disenfranchisement of the so-called Japanoid identity that Tatsumi embraces. Within Tetsuo, representation of woman as femme fatale and an overt queering of masculinity problematize the traditional heteronormative Japanese identity
Biologically Inspired CPG-Based Locomotion Control System of a Biped Robot Using Nonlinear Oscillators with Phase Resetting
No full textヒセンケイ シンドウシ オ モチイタ 2キャク ロボット ノ ホコウ セイギョ ニ カンスル ケンキュウ
No full text京都大学0048新制・課程博士博士(工学)甲第12281号工博第2610号新制||工||1368(附属図書館)24117UT51-2006-J274京都大学大学院工学研究科航空宇宙工学専攻(主査)教授 土屋 和雄, 教授 椹木 哲夫, 教授 市川 朗学位規則第4条第1項該当Doctor of EngineeringKyoto UniversityDA
Gait Generation and Transition of a Biped Robot Based on Kinematic Synergy in Human Locomotion
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