Bio-inspired Emergent Control of Locomotion Systems PDF Download
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Author: Mattia Frasca
Publisher: World Scientific
ISBN: 9789812562302
Category : Technology & Engineering
Languages : en
Pages : 214
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Book Description
This book deals with locomotion control of biologically inspired robots realized through an analog circuital paradigm as cellular nonlinear networks. It presents a general methodology for the control of bio-inspired robots and several case studies, as well as describes a new approach to motion control and the related circuit architecture.
Author: Mattia Frasca
Publisher: World Scientific
ISBN: 9789812562302
Category : Technology & Engineering
Languages : en
Pages : 214
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Book Description
This book deals with locomotion control of biologically inspired robots realized through an analog circuital paradigm as cellular nonlinear networks. It presents a general methodology for the control of bio-inspired robots and several case studies, as well as describes a new approach to motion control and the related circuit architecture.
Author: Yunhui Liu
Publisher: CRC Press
ISBN: 1351833200
Category : Medical
Languages : en
Pages : 343
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Book Description
Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers.
Author: Salomon Joseph Trujillo
Publisher: Stanford University
ISBN:
Category :
Languages : en
Pages : 197
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Book Description
The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. These priorities guided us to develop optimal climbing behaviors under thermal constraints. These behaviors in turn profoundly constrain the choice of gait regulation methods. We propose a novel algorithm: "travel-based" gait regulation that varies foot detachment timing, effectively modifying stride length and frequency in order to maintain gait phasing, subject to kinematic and stability constraints. A core feature of the algorithm is "travel, " a new metric that plays a similar role to relative phasing. The method results in linear equations in terms of travel, leading to straightforward tests for local and global convergence when, for example, disturbances such as foot slippage cause departures from the nominal phasing. We form recurrence maps and use eigenvalue and singular value decomposition to examine local convergence of gaits. To examine global convergence, we implemented a computational geometry technique in high-order spaces. Our travel-based algorithm benefits from a compact code size and ease of implementation. We implemented the algorithm on the RiSE and Stickybot III robots as well as a virtual hexapod in a physics simulator. We demonstrated quickly converging gaits on all platforms as well as gait transitions on Stickybot III and the virtual hexapod.
Author: Paolo Arena
Publisher: Springer Science & Business Media
ISBN: 3319023624
Category : Technology & Engineering
Languages : en
Pages : 376
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Book Description
This book presents the result of a joint effort from different European Institutions within the framework of the EU funded project called SPARK II, devoted to device an insect brain computational model, useful to be embedded into autonomous robotic agents. Part I reports the biological background on Drosophila melanogaster with particular attention to the main centers which are used as building blocks for the implementation of the insect brain computational model. Part II reports the mathematical approach to model the Central Pattern Generator used for the gait generation in a six-legged robot. Also the Reaction-diffusion principles in non-linear lattices are exploited to develop a compact internal representation of a dynamically changing environment for behavioral planning. In Part III a software/hardware framework, developed to integrate the insect brain computational model in a simulated/real robotic platform, is illustrated. The different robots used for the experiments are also described. Moreover the problems related to the vision system were addressed proposing robust solutions for object identification and feature extraction. Part IV includes the relevant scenarios used in the experiments to test the capabilities of the insect brain-inspired architecture taking as comparison the biological case. Experimental results are finally reported, whose multimedia can be found in the SPARK II web page: www.spark2.diees.unict.it
Author: Ricardo Chac¢n
Publisher: World Scientific
ISBN: 9812380426
Category : Science
Languages : en
Pages : 240
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Book Description
This monograph presents a reasonably rigorous theory of a highly relevant chaos control method: suppression?enhancement of chaos by weak periodic excitations in low-dimensional, dissipative and non-autonomous systems. The theory provides analytical estimates of the ranges of parameters of the chaos-controlling excitation for suppression?enhancement of the initial chaos.The important applications of the theory presented in the book include: (1) control of chaotic escape from a potential well; (2) suppression of chaos in a driven Josephson junction; (3) control of chaotic solitons in Frenkel?Kontorova chains; (4) control of chaotic breather dynamics in perturbed sine-Gordon equations; (5) control of chaotic charged particles in electrostatic wave packets.
Author: Georgios Ch. Sirakoulis
Publisher: Springer
ISBN: 3319109243
Category : Technology & Engineering
Languages : en
Pages : 319
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Book Description
The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are written in an accessible manner and lavishly illustrated. The book will help computer and robotic scientists and engineers to understand mechanisms of decentralised functioning of robotic collectives and to design future and emergent reconfigurable, parallel and distributed robotic systems.
Author: Vladimir Nikolov Damgov
Publisher: World Scientific
ISBN: 9814497738
Category : Science
Languages : en
Pages : 574
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Book Description
The book comprises a broad panorama of phenomena occurring in four major classes of radiophysical and mechanical systems — linear, nonlinear, parametric, and nonlinear-parametric. An analytical technique for the broad circle of issues under consideration is developed. It is presented in a user-friendly form, allowing its further direct application in research practices.Analytical methods are presented for investigating modulation-parametric and nonlinear systems, oscillating systems with periodic and almost periodic time-dependent parameters, effects of adaptive self-organization in coupled resonance systems and oscillating systems under the action of external forces, nonlinear with respect to the coordinates of excited systems.Of an interdisciplinary nature, this volume can serve as a handbook for developing lecture courses such as Fundamentals of Nonlinear Dynamics and Theory of Nonlinear Oscillations, Theory of Nonlinear Circuits and Systems, Fundamentals of Radiophysics and Electronics, Theory of Signals and Theoretical Radiophysics, Theoretical Mechanics and Electrodynamics.
Author: Arkady S Pikovsky
Publisher: World Scientific
ISBN: 9814478768
Category : Science
Languages : en
Pages : 226
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Book Description
This book is the first monograph devoted exclusively to strange nonchaotic attractors (SNA), recently discovered objects with a special kind of dynamical behavior between order and chaos in dissipative nonlinear systems under quasiperiodic driving. A historical review of the discovery and study of SNA, mathematical and physically-motivated examples, and a review of known experimental studies of SNA are presented. The main focus is on the theoretical analysis of strange nonchaotic behavior by means of different tools of nonlinear dynamics and statistical physics (bifurcation analysis, Lyapunov exponents, correlations and spectra, renormalization group). The relations of the subject to other fields of physics such as quantum chaos and solid state physics are also discussed.
Author: Vo Hoang Duy
Publisher: Springer
ISBN: 3319509047
Category : Technology & Engineering
Languages : en
Pages : 945
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Book Description
These lecture notes present selected topics concerning a wide range of electrical and electronics applications, highlighting innovative approaches and offering state-of-the-art overviews. The book is divided into 14 topical areas, including e.g. telecommunication, power systems, robotics, control systems, renewable energy, mechanical engineering, computer science and more. Readers will find revealing papers on the design and implementation of control algorithms for automobiles and electrohydraulic systems, efficient protocols for vehicular ad hoc networks and motor control, and energy-saving methods that can be applied in various fields of electrical engineering. The book offers a valuable resource for all practitioners who want to apply the topics discussed to solve real-world problems in their challenging applications. Offering insights into common and related subjects in the research fields of modern electrical, electronic and related technologies, it will also benefit all scientists and engineers working in the above-mentioned fields.
Author: Michael Lones
Publisher: Springer
ISBN: 3319231081
Category : Computers
Languages : en
Pages : 232
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Book Description
This book constitutes the proceedings of the 10th International Conference on Information Processing in Cells and Tissues, IPCAT 2015, held in San Diego, CA, USA, in September 2015. The 19 papers presented in this volume were carefully reviewed and selected from 22 submissions. They were organized in topical sections named: biochemical information processing; collective and distributed behavior; patterning and rhythm generation; biochemical regulatory networks; metabolomics and phenotypes; and neural modelling and neural networks.
