Tuesday August 8, 2000
Briefing of AMAM [slides]
H.Kimura
University of Electro-Communications
Keynote Speech I
Neuronal Mechanisms for the Adaptive
Control of Locomotion in the Cat
T. Drew
University of Montreal
Keynote Speech II
Nonlinear Dynamics of the Human Motor
Control - Real-Time and Anticipatory Adaptation of Locomotion
and Development of Movements -
G. Taga
University of Tokyo
Session TuA-I: Visual Adaptation Mechanisms of Systems in
Locomotion
Chairs: T. Drew1 and A.E. Patla2
1University of Montreal
2University of Waterloo
Local Path Planning during Human Locomotion
over Irregular Terrain
*A.E. Patla, E. Niechwiej and L. Santos
University of Waterloo
Emergence of Quadruped Walk by a Combination
of Reflexes
*K. Hosoda, T. Miyashita and M. Asada
Osaka University
A Model of Visually Triggered Gait
Adaptation
*M.A. Lewis and L.S. Simo
Iguana Robotics
Session TuA-II: Neuro-Mechanics
Chairs: G. Taga1 and H. Witte2
1University of Tokyo
2Friedrich-Schiller-Universitat Jena
Biologically Inspired Dynamic Walking
of a Quadruped on Irregular Terrain - Adaptation at Spinal Cord
and Brain Stem - [slides]
*H. Kimura and Y. Fukuoka
University of Electro-Communications
Adaptive Posture Control of a Four-Legged
Walking Machine Using Some Principles of Mammalian
Locomotion
*W. Ilg1, J. Albiez1, H. Witte2 and R. Dillmann1
1Forschungszentrum Informatik Kalsruhe and 2 Friedrich-Schiller-Universitat
Jena
Stabilization of Periodic
Motions - from Juggling to Bipedal Walking - [slides]
*S. Miyakoshi1, G. Taga2 and Y. Kuniyoshi1
1Electrotechnical Laboratory and 2University of Tokyo
Synchronized Robot Drumming by Neural
Oscillators
*S. Kotosaka1 and S. Schaal1, 2
1Kawato Dynamic Brain Project(ERATO/JST) and 2University of Southen
California
Session TuP-II: Design of Neural Controller
Chairs: A.J. Ijspeert1 and A. Ishiguro2
1University of Southern California
2Nagoya Univesity
A Neuromechanical Investigation
of Salamander Locomotion
A.J. Ijspeert
University of Southern California
Evolutionary Creation of an Adaptive
Controller for a Legged-Robot: A Dynamically-Rearranging Neural
Network Approach
*A. Fujii1, *A. Ishiguro1, K. Otsu1, Y. Uchikawa1, T. Aoki2 and
P.Eggenberger3
1Nagoya Univesity, 2Nagoya Municipal Industrial Research Institute
and 3ATR
On Nonlinear Dynamics that Generates Rhythmic
Motion with Specific Accuracy
*K. Senda and T. Tanaka
Osaka Prefecture University
Wednesday August 9, 2000
Keynote Speech IV
Sensorimotor Integration in Lampreys
and Robot I: CPG Principles [slides]
*A.H. Cohen1 and M.A. Lewis2
1University of Maryland and 2Iguana Robotics
Session WeA-I: Adaptive Locomotion
Chairs: A.H. Cohen1, M.A. Lewis2 and K. Tsuchiya3
1University of Maryland
2Iguana Robotics
3Kyoto University
Sensorimotor Integration in Lampreys
and Robots II: CPG Hardware Circuit for Controlling a Running
Robotic Leg
*M.A. Lewis1, R.E. Cummings2, M. Hartmann3 and A.H. Cohen4
1Iguana Robotics, 2Johns Hopkins University, 3California Institute
of Technology
and 4University of Maryland
Decentralized Autonomous Control
of a Quadruped Locomotion Robot
*K. Tsujita, K. Tsuchiya and A. Onat
Kyoto University
Control of Walking Machines With Artificial
Reflexes
*M. Guddat and M. Frik
Gerhard-Mercator University
Novel Gaits for a Novel Crawling/Grasping
Mechanism [slides]
R. M. Voyles
University of Minnesota
Session WeA-II: Modeling and Analysis of Motion
Chairs: M. Buehler1 and H. Kimura2
1McGill University
2University of Electro-Communications
Damping And Size: Insights And Biological
Inspiration
*M. Garcia1, A. Kuo2, A. Peattie3, P. Wang1 and R. Full1
1University of California, 2University of Michigan and 3Lewis
& Clark College
Approximate Solutions for Gait Simulation
and Control
*P. Bourassa, M-R. Meier, P. Micheau and P. Buaka
University of Sherbrooke
Energy Optimal Trajectory Planning of
Biped Walking Motion
*R. Liu and K. Ono
Tokyo institute of Technology
Biped Humanoid Robots in Human Environments
: Adaptability and Emotion
*H. Lim1 and A. Takanishi2
1Kanagawa Institute of Technology and 2Waseda University
Thursday August 10, 2000
Keynote Speech VI
Robust Behavior of the Human Leg
*R. Blickhan, A. Seyfarth, H. Wagner, A. Friedrichs and Michael
Gunther
Friedrich-Schiller-Universitat Jena
Session ThA-I: Adaptive Mechanics
Chairs: R. Blickhan1 and K. Ono2
1Friedrich-Schiller-Universitat Jena
2Tokyo institute of Technology
Quadrupedal Mammals as Paragons
for Walking Machines
*H. Witte1, R. Hackert1, W. Ilg2, J. Biltzinger1, N. Schilling1,
F. Biedermann1,
M. Jergas3, H. Preuschoft3 and M.S. Fischer1
1Friedrich-Schiller-Universitat Jena, 2Forschungszentrum Informatik
and 3Ruhr-Universitat Bochum
Some Issues in Creating 'Invertebrate'
Robots
I.D. Walker
Clemson University
An Adaptive Controller for Two Cooperating
Flexible Manipulators [slides]
C.J. Damaren
University of Toronto
Spontaneous Generation of Anti-Gravitational
Arm Motion Based on Anatomical Constrains of the Human
Body
*N. Ogihara and N. Yamazaki
Keio University
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 and M.S. Fischer
Friedrich-Schiller-Universitat Jena
Optimal Attitude Control for Articulated
Body Mobile Robots
*E.F. Fukushima and Shigeo Hirose
Tokyo Institute of Technology
Session ThP-1: Behavior and Motion of Humans & Humanoids
Chairs: Ch. Lutzenberger1 and T. Ogata2
1Technische Universitat Munchen
2Waseda University
Analysis of Hemiparetic Gait
by Using Mechanical Models [slides]
*Ch. Lutzenberger and F. Pfeiffer
Technische Universitat Munchen
Dynamics and Control of a Simulated
3-D Humanoid Biped
K. Sari, *G.M. Nelson and R.D. Quinn
Case Western Reserve University
Real-Time Interactive Motion Generator
of Human Figures
Y. Nakamura1, 2 and *K. Yamane1
1University of Tokyo and 2CREST(Japan Science and Technology Corporation)
Adaptive Motions by the Endocrine System
Model in An Autonomous Robot
*T. Ogata, S. Sugano
Waseda University
Self-Excited Walking of a Biped
Mechanism
K. Ono, *R. Takahashi, T. Shimada and A. Imadu
Tokyo Institute of Technology
Friday August 11, 2000
Keynote Speech VIII
Dynamic Locomotion with Four and
Six-Legged Robots
*M. Buehler1, U. Saranli2, D.Papadopoulos1 and D.Koditschek2
1McGill University and 2University of Michigan
Session FrA-I: Technical Development of Mechanism and Control
Chairs: M. Buehler1 and K. Yoneda2
1McGill University
2Tokyo Institute of Technology
Partial Leg Exchange and Active CG
Control of Twin-Frame Walking Machine
K. Yoneda, *Y. Ota, F. Ito and S. Hirose
Tokyo Institute of Technology
3D Posture Control by Using the
Cat-Turn Motion
*A. Miyajima, K. Yamafuji and T. Tanaka
University of Electro-Communications
Development of MEL HORSE
H. Takeuchi
Mechanical Engineering Laboratory
Session FrP-II: Super-Mechano Systems
Chairs: F. Matsuno1 and R. M. Voyles2
1Tokyo Institute of Technology
2University of Minnesota
Unit Design of Hyper-Redundant Snake
Robots Based on a Kinematic Model
*F. Matsuno and K. Mogi
Tokyo Institute of Technology
Dynamic Manipulability of a Snake-Like
Robot with Consideration of Side Force and its Application to
Locomotion Control
H. Date, Y. Hoshi and *M. Sampei
Tokyo Institute of Technology
Development and Running Control of
a 3D Leg Robot
*T. Ikeda, T.Tamura and T. Mita
Tokyo Institute of Technology
Jumping Cat Robot with Kicking a
Wall
M. Yamakita, *Y. Omagari and Y. Taniguchi
Tokyo Institute of Technology
Closing Remarks
H.Witte
Friedrich-Schiller-Universitat Jena