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Keynote Speeches
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[K01-drew.pdf]
Neuronal mechanisms for the adaptive control of locomotion in the cat.
Drew, T., Univ. of Montreal, Canada
e-mail:drewt@ERE.UMontreal.CA

[K02-taga.pdf]
Developmental, Real Time and Anticipatory Adaptation of Human Movements
that Emerge from Nonlinear Dynamics of the Neuro-Musculo-Skeletal System
and Environment.
G.Taga, Univ. of Tokyo, Japan
e-mail:taga@complex.c.u-tokyo.ac.jp

[K03-cohen.pdf]
Studies of sensorimotor integration in swimming lampreys and walking robotic
limbs.
A.H.Cohen, Univ. of Maryland, USA
e-mail:ac61@umail.umd.edu

[K04-blickhan.pdf]
Robust behavior of the human leg.
Blickhan, Friedrich-Schiller Univ., Jena., Germany
e-mail:reinhard.blickhan@rz.uni-jena.de

[K05-buehler.pdf]
Dynamic locomotion with four and six-legged robots.
Martin Buehler, McGill University, Canada
e-mail:buehler@cim.mcgill.ca

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had been Submitted
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[B02-lutzenberger.pdf]
Analysis of Hemiparetic Gait by Using Mechanical Models,
Ch.Lutzenberger, F.Pfeiffer, TU-Muechen, Germany
e-mail:cl@lbm.mw.tu-muenchen.de

[B03-garcia.pdf]
Damping And Size: Insights And Biological Inspiration,
M.S.Garcia, A.D.Kuno, A.M.Peattie, P.C.Wang, R.J.Full, UCB, USA
e-mail:garcia@socrates.berkeley.edu

[B04-ijspeert.pdf]
A neuromechanical investigation of salamander locomotion,
A.J.Ijspeert, USC, USA 
e-mail:ijspeert@rana.usc.edu

[B05-bourassa.pdf]
Approximate Solutions for Gait Simulation and Control,
P.Bourassa, M.Meier, P.Micheau, P.Buaka, Univ. of Sherbrooke, Canada
e-mail:paul.bourassa@gme.usherb.ca

[B06-witte.pdf]
Quadrupedal Mammals as Paragons for Walking Machines,
H.Witte, R.Hackert, W.Ilg, J.Biltzinger, N.Schilling, F.Biedermann,
M.Jergas, H.Preuschoft, M.S.Fischer, Germany
e-mail:witte@pan.zoo.uni-jena.de

[B07-hackert.pdf]
Interaction between motions of the trunk and the limbs and the angle
of attack during synchronous gaits of the pika (Ochotona rufescens),
R.Hackert, H.Witte, M.S.Fischer, Jena Univ., Germany
e-mail:hackert@zoo.uni-jena.de

[B08-ogihara.pdf]
Spontaneous generation of anti-gravitational arm motion based on
anatomical constrains of the human body,
N.Ogihara, N.Yamazaki, Keio Univ., Japan
e-mail:oginao@mech.keio.ac.jp

[B09-patla.pdf]
Local path planning during human locomotion over irregular terrain
A.E. Patla, E.Niechwiej, L.Santos, Univ. of Waterloo, Canada
e-mail:patla@healthy.uwaterloo.ca

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[E01-guddat.pdf]
Control of Walking Machines With Artificial Reflexes,
M.Guddat, M.Frik, Gerhard-Mercator-University, Germany
e-mail:guddat@mechanik.uni-duisburg.de

[E02-lim.pdf]
Biped Humanoid Robots in Human Environments: Adaptability and Emotion,
H.Lim, A.Takanishi, Waseda University, Japan
e-mail:holim@mse.waseda.ac.jp

[E03-sari.doc]
Dynamics and Control of a Simulated 3-D Humanoid Biped,
K.Sari, G.M.Nelson and R.D.Quinn, Case Western Reserve Univ., USA
e-mail:gnelson@falstaff.mae.cwru.edu, rdq@po.cwru.edu

[E05-takeuchi.pdf]
Development of MEL HORSE, 
Hiroki TAKEUCHI, MEL, Japan
e-mail:m4890@mel.go.jp

[E06-yoneda.pdf]
Partial Leg Exchange and Active CG Control of Twin-Frame Walking Machine 
Kan YONEDA, Yusuke OTA, Fumitoshi ITO, and Shigeo Hirose, TITECH, Japan
e-mail:yoneda@mes.titech.ac.jp

[E07-fukushima.pdf]
Optimal Attitude Control for Articulated Body Mobile Robots
Edwardo F. Fukushima  and  Shigeo Hirose, TITECH, Japan
e-mail:fukusima@mes.titech.ac.jp

[E08-ishiguro.pdf]
Evolutionary Creation of an Adaptive Controller for a Legged-Robot:
A Dynamically-Rearranging Neural Network Approach,
A.Fujii, A.Ishiguro, K.Otsu, Y.Uchikawa, Nagoya Univ.,
T.Aoki, Nagoya Municipal Industrial Research Institute,
P.Eggenberger, ATR, Japan
e-mail:ishiguro@cse.nagoya-u.ac.jp

[E09-ilg.pdf]
Adaptive posture control of a four-legged walking machine using some
principles of mammalian locomotion,
W.Ilg, J.Albiez, R.Dillmann, H.Witte, N.Schilling, M.S.Fischer, Germany
e-mail:ilg@fzi.de

[E10-hosoda.pdf]
Emergence of Quadruped Walk by a Combination of Reflections,
K.Hosoda, T.Miyashita, M.Asada, Osaka Univ., Japan
e-mail:hosoda@ams.eng.osaka-u.ac.jp

[E11-walker.pdf]
Some Issues in Creating "Invertebrate" Robots,
I.D.Walker, Clemson University, USA
e-mail:ianw@ces.clemson.edu

[E12-ikeda.pdf]
Development and Running Control of a 3D Leg Robot,
T.IKEDA, T.TAMURA, T.MITA, TITECH, Japan
e-mail:mita@ctrl.titech.ac.jp, ikeda@ctrl.titech.ac.jp

[E13-date.pdf]
Dynamic Manipulability of a Snake-Like Robot with Consideration
of Side Force and its Application to Locomotion Control,
H.Date, Y.Hoshi, M.Sampei, TITECH, Japan
e-mail:sampei@mei.titech.ac.jp

[E14-matsuno.pdf]
Design and Control of Hyper-redundant Snake Robots Based on a Kinematic Model,
F.Matsuno, K.Mogi, TITECH, Japan
e-mail:matsuno@dis.titech.ac.jp
e-mail:mogi@cs.dis.titech.ac.jp

[E15-yamakita.pdf]
A Jumping Cat Robot with Kicking a Wall,
M.Yamakita, Y.Omagari, Y.Taniguchi, TITECH, Japan
e-mail:yamakita@ctrl.titech.ac.jp

[E17-damaren.pdf]
An Adaptive Controller for Two Cooperating Flexible Manipulators
C.J.Damaren, Univ. of Toronto, Canada
e-mail:cjd@sdr.utias.utoronto.ca

[E18-tsujita.pdf]
Decentralized Autonomous Control of a Quadruped Locomotion Robot,
K.Tsujita, K.Tsuchiya and A.Onat, Kyoto Univ, Japan
e-mail:tsujita@space.kuaero.kyoto-u.ac.jp

[E20-voyles.pdf]
Novel Locomotion Modes for the TerminatorBot Crawler,
R. M. Voyles, University of Minnesota, USA
e-mail:voyles@cs.umn.edu

[E21-yamane.pdf]
Real-Time Interactive Motion Generation of Human Figures
Y.Nakamura, K.Yamane, Univ. of Tokyo, Japan
e-mail:katz@ynl.t.u-tokyo.ac.jp

[E23-miyajima.pdf]
Development of a 3 Dimensional Cat-Turning Robot and its Posture Control
A.Miyajima, T.Tanaka, K.Yamafuji, Univ. of Elector-Communications, Japan
e-mail:akira@yama.mce.uec.ac.jp

[E26-kotosaka.pdf]
Synchronized robot drumming by neural oscillator
S. Kotosaka, S.Schaal, ATR, Japan
e-mail:kotosaka@erato.atr.co.jp

[E28-kimura.pdf]
Biologically Inspired Dynamic Walking of a Quadruped Robot on
Irregular Terrain - Adaptation at Spinal Cord and Brain Stem -
H.Kimura, Y.Fukuoka, Univ. of Electro-Communications, Japan
e-mail:hiroshi@kimura.is.uec.ac.jp

[E29-senda.pdf]
On Nonlinear Dynamics that Generates Rhythmic Motion with Specific Accuracy
K.SENDA and T.TANAKA, Osaka Prefecture University, Japan
e-mail: senda@aero.osakafu-u.ac.jp

[E30-ogata.pdf]
The adaptive motion by the endocrine system model in an
autonomous robot,
T.OGATA, S.SUGANO, Waseda Univ., Japan
e-mail:ogata@paradise.mech.waseda.ac.jp

[E31-miyakoshi.pdf]
Stabilization of periodic motions -- from juggling to bipedal walking --,
S.MIYAKOSHI*, G.TAGA#, Y.KUNIYOSHI*, *ETL and #Univ. Tokyo, Japan
e-mail:smiyakos@etl.go.jp

[E33-lewis.pdf]
A Modelf of Visually Triggered Gait Adaptation
M.A. Lewis, L.S.Simo, Iguana Robotics, Inc., USA
e-mail:tlewis@iguana-robotics.com

[E35-takahashi.pdf]
Self-Excited Walking of a Biped Mechanism 
K.Ono, R.Takahashi, T.Shimada and A.Imadu
Tokyo Institute of Technology
e-mail:ono@mech.titech.ac.jp
e-mail:ryutaro@stu.mech.titech.ac.jp

[E36-liu.pdf]
Energy Optimal Trajectry Planning of Biped Walking Motion
R.Liu and K.Ono
Tokyo institute of Technology
e-mail:ono@mech.titech.ac.jp
e-mail:liurq@stu.mech.titech.ac.jp

[E37-lewis.pdf]
Sensorimotor Integration in Lampreys and Robots II:
-CPG Hardware Circuit for Controlling a Running Robotic Leg-
M.A. Lewis1, R.E.Cummings2, M.Hartmann3, A.H.Cohen4, 1Iguana Robotics, Inc., USA
e-mail:tlewis@iguana-robotics.com