2nd International Symposium on Adaptive Motion of Animals and Machines
March 4-8, 2003, Kyoto, Japan

Tuesday March 4, 2003

Opening Remarks
15:00 - 15:15

Tutorial I
15:15 - 16:00 TuP-K-1
Control principles for locomotion - looking toward biology
A.H. Cohen
University of Maryland

Tutorial II
16:15 - 17:00 TuP-K-2
Purposive Locomotion of Insect in Indefinite Environment
M. Yano
Tohoku University

Welcome Party at the Hall
17:30 - 19:30

Wednesday March 5, 2003

Special Lecture
09:30 - 10:30 WeA-K-3
Higher Nervous Control of Quadrupedal vs Bipedal Locomotion in Non-Human Primates; Common and Specific Properties
S. Mori
National Institute for Physiological Sciences, Japan

Session WeA-I: Higher Level Control of Bipedal Locomotion

Invited Talk
10:45 - 11:30 WeA-K-4
Coupling static and dynamic environmental information from the visual system to locomotor action
A.E. Patla
University of Waterloo

Contributed Paper

11:30 - 11:50 WeA-I-1
Higher Nervous Control System in Bipedally Walking Japanese Monkey, Macaca fuscata
F. Mori and S. Mori
National Institute for Physiological Sciences, Japan

11:50 - 12:10 WeA-I-2
Visuomotor Coordination in Walking Machines
M.A. Lewis
Iguana Robotics, Inc.

Session WeP-I: Analysis & Control of Bipedal Locomotion

13:15 - 13:35 WeP-I-1
Design and Construction of MIKE; a 2D autonomous biped based on passive dynamic walking
M. Wisse and J. van Frankenhuyzen
Delft University of Technology

13::35 - 13:55 WeP-I-2
Motion Generate and Control of Quasi-Passsive-Dynamic-Walking based on the concept of Delayed Feedback Control
Y. Sugimoto and K.Osuka
Kyoto University

13:55 - 14:15 WeP-I-3
Minimum Input Walking Gait of Four-DOF Biped Model Solved by Optimal Trajectory Planning Method
C. Peng and K. Ono
Tokyo Institute of Technology

14:15 - 14:35 WeP-I-4
Static balance control and external force estimation using ground reaction forces
S. Ito1,2, Y. Aoyama1 and H. Kawasaki1
1Gifu University and 2Bio-mimetic Control Research Center, RIKEN

14:35 - 14:55 WeP-I-5
Analysis of Dynamics of Passive Walking from Energy Function and Eigenvalues
Y. Ikemata, A. Sano and H. Fujimoto
Nagoya Institute of Technology

Session WeP-II: Rhythmic Motion Analysis & Implementation

15:10 - 15:30 WeP-II-1
Measurement and Numerical Simulation of a Flapping Butterfly
K. Senda, T. Tanaka and M. Sawamoto
Kanazawa University

15:30 - 15:50 WeP-II-2
An Analog CMOS Circuit Implementing CPG Controller for Quadruped Walking Robot
K. Nakada, T. Asai and Y. Amemiya
University of Hokkaido

15:50 - 16:10 WeP-II-3
A Bidirectional Weak Coupling Approach To Rhythmic Movement
H. Hirai and F. Miyazaki
Osaka University

Session WeP-II (OS): Control Principles from Biologically Inspired Mechanics

16:25 - 16:45 WeP-III-1
Simulation study of self-excited walking of a biped mechanism with bent knee
K. Ono and X. Yao
Tokyo Institute of Technology

16:45 - 17:05 WeP-III-2
On Recent Bio-mimetic Studies of Legged Locomotion --- Diversity, Adaptability and Energy Consumption for Hexapod, Quadruped and Biped
Z.W. Luo, T. Odashima, F. Asano and S. Hosoe
Bio-mimetic Control Research Center, RIKEN

17:05 - 17:25 WeP-III-3
Necessity of Body Image in Applying Reinforcement Learning to Redundant Robots
K. Ito1, A. Gofuku1 and M. Takeshita1, and F. Matsuno2
1Okayama University and 2Tokyo Institute of Technology

17:25 - 17:45 WeP-III-4
Control of Snake Like Robot for Locomotion and Manipulation
M. Yamakita1,2 , T. Yamada1 and K. Tanaka1
1Tokyo Institute of Technology and 2Bio-mimetic Control Research Center, RIKEN

17:45 - 18:05 WeP-III-5
Experimental Study on Control of 3D Redundant Snake Robot based on Kinematic Model
F. Matsuno and K. Suenaga
Tokyo Institute of Technology

Thursday March 6, 2003

Keynote Speech I

09:30 - 10:15 ThA-K-5
Biorobotics in the Age of Integration
R.J. Full
University of California at Berkeley

Session ThA-I: Dynamic & Adaptive Locomotion

10:30 - 10:50 ThA-I-1
Adapting Work Through Actuator Phasing in Running
J.G. Cham and M.R. Cutkosky
Stanford University

10:50 - 11:10 ThA-I-2
On the Dynamics of Bounding and Extensions Towards the Half-Bound and the Gallop Gaits
I. Poulakakis, J.A. Smith and M. Buehler
McGill University

11:10 - 11:30 ThA-I-3
Exploiting Friction for the Locomotion of a Hopping Robot
F. Iida
University of Zurich

11:30- 11:50 ThA-I-4
The Influence of Friction on Gait and Energy Efficiency of the Walking Robot Based on Rhythmic Control
H. Takemura, J. Ueda, Y. Matsumoto and T. Ogasawara
Nara Institute of Science and Technology

Keynote Speech II

13:00 - 13:45 ThP-K-6
Control of hexapod walking in biological systems
*H. Cruse, V. Durr, J. Schmitz, A. Schneider
University of Bielefeld

Session ThP-I (OS): Mobiligence

14:00 - 14:20 ThP-I-1
A Turning Strategy of a Multi-Legged Locomotion Robot
K. Tsuchiya, S. Aoi and K. Tsujita
Kyoto University

14:20 - 14:40 ThP-I-2
Dynamics Based Integration of Motion Adaptation for a Quadruped Robot
H. Kimura, Y. Fukuoka and T. Mimura
University of Electro-Communications

14:40 - 15:00 ThP-I-3
Toward "well-balanced" design: a robotic-case study - How should control and body dynamics be coupled? -
A. Ishiguro1, K. Ishimaru1, K. Hayakawa1 and T. Kawakatsu2
1Nagoya University and 2Tohoku University

15:00 - 15:20 ThP-I-4
Development of a Hexapod Robot focusing on Leg Compliance
H. Hayashi, T. Kondo and K. Ito
Tokyo Institute of Technology

15:20 - 15:40 ThP-I-5
Learning Energy Efficient Walking with Ballistic Walking
M. Ogino, K. Hosoda and M. Asada
Osaka University

Session ThP-II: Neural Control & Learning

15:55 - 16:15 ThP-II-1
Gait transition from swimming to walking: investigation of salamander locomotion control using nonlinear oscillators
A.J. Ijspeert1 and J.-M. Cabelguen2
1Swiss Federal Institute of Technology and 2The French Institute of Health and Medical Research

16:15 - 16:35 ThP-II-2
Bilateral Decoupling in the Neural Control of Biped Locomotion
C. Paul
University of Zurich

16:35 - 16:55 ThP-II-3
A Motion Learning Method using CPG/NP
F. Nagashima
Fujitsu Laboratories

16:55 - 17:15 ThP-II-4
Learning to bounce: First lessons from a bouncing robot
M. Lungarella and L. Berthouze
Neuroscience Research Institute, Japan

17:15 - 17:35 ThP-II-5
Reinforcement Learning for Biped Robot
Y. Nakamura1, M. Sato2,3 and S. Ishii1,3
1Nara Institute of science and technology, 2ATR and 3CREST, JST

Official Robot Demonstration at the Hall

Friday March 7, 2003

Keynote Speech III

09:15 - 10:00 FrA-K-7
Jumping, running, dancing, flying, reaching: moving into the future.
Design principles for adaptive mobile systems
R. Pfeifer
University of Zurich

Session FrA-I: Modeling & Analysis of Locomotion

Invited Talk

10:15 - 10:50 FrA-K-8
Biomechatronics - how much biology does the engineer need?
H. Witte
Technical University of Ilmenau

Invited Talk

10:50 - 11:25 FrA-K-9
Towards emulating adaptive locomotion of a quadrupedal primate by a neuro-musculo-skeletal model
*N. Ogihara1 and N. Yamazaki2
1Kyoto University and 2Keio University

Contributed Paper

11:25 - 11:45 FrA-I-1
An analytical study of the cost of transport for legged locomotion
J. Nishii
Yamaguchi University

11:45 - 12:05 FrA-I-2
Modeling of Insects Legs by Inverse Kinematics Analysis
S. Laksanacharoen1, R.D. Quinn2 and R.E. Ritzmann2
1King Mongkuts Institute of Technology North Bangkok
2Case Western Reserve University

Official Technical Tour to ATR (half day)
12:30 -

Banquet at the Rihga Royal Hotel Kyoto
19:00 - 21:00

Saturday March 8, 2003

Session SaA-I: Biologically Inspired Machine Design & Control Architecture

09:30 - 09:50 SaA-I-1
A Cockroach Inspired Robot With Artificial Muscles
D.A. Kingsley, R.D. Quinn and R.E. Ritzmann
Case Western Reserve University

09:50 - 10:10 SaA-I-2
The RoboCoq Project : Modelling and Design of a Bird-like Robot Equipped with Stabilized Vision
V. Hugel1, A. Abourachid2, H. Gioanni3, M. Maurice3, O. Stasse1,4, P. Bonnin1 and P. Blazevic1
1Laboratoire de Robotique de Versailles
2Museum National d' Histoire Naturelle
3Laboratoire de Neurobiologie des Reseaux Sensori-moteurs
4Laboratoire de Traitement et Transport de l' Information

10:10 - 10:30 SaA-I-3
Viki Humanoid: Towards an Integrated Approach
H.H. Lund, L. Pagliarini, L. Paramonov and M.W. Jrgensen
University of Southern Denmark

10:30 - 10:50 SaA-I-4
A Behaviour Network Concept for Controlling Walking Machines
J. Albiez, T. Luksch, K. Berns and R. Dillmann
Forschungszentrum Informatik Karlsruhe

Session SaA-II: Motion and Behavior

11:05 - 11:25 SaA-II-1
An Approach from Motion Generation Recognition to Intelligence based on Mimesis Principle
T. Inamura1,2, H. Tanie1, I. Toshima1 and Y. Nakamura1,2
1University of Tokyo and 2CREST, JST

11:25 - 11:45 SaA-II-2
Recognition and Generation of Leg Primitive Motions for Dance Imitation
S. Nakaoka1, A. Nakazawa2, K. Yokoi3 and K. Ikeuchi1
1University of Tokyo
2Japan Science and Technology Corporation (JST)
3National Institute of Advanced Industrial Science and Technology (AIST)

11:45 - 12:05 SaA-II-3
Emergence of Joint Attention based on Visual Attention and Self Learning
Y. Nagai, K. Hosoda, A. Morita and M. Asada
Osaka University

Session SaP-I (OS): Robot Brain I

13:15 - 13:35 SaP-I-1
Optimizing Human Motion for the Control of a Humanoid Robot
A. Safonova1 , N.S. Pollard2,3 and J.K. Hodgins1,3
1Carnegie Mellon University
2 Brown University
3ATR Human Information Science Laboratories

13:35 - 13:55 SaP-I-2
Dynamic Computation of Musculo-Skeletal Human Model Based on Efficient Algorithm for Closed Kinematic Chains
Y. Nakamura1,2, K. Yamane3, I. Suzuki1 and Y. Fujita1
1University of Tokyo, 2CREST, JST and 3Carnegie Mellon University

13:55 - 14:15 SaP-I-3
Dynamic Movement Primitives - A Framework for Motor Control in Humans and Humanoid Robotics
Stefan Schaal1,2
1University of South California and 2ATR Human Information Science Laboratories

14:15 - 14:35 SaP-I-4
Human Walk Pitch Extraction by Interactively Trainable Robot Vision for Human-Robot Synchronized Walking
K. Okabe1, K. Hidai1, H. Mizoguchi2, K. Hiraoka1, T. Shigehara1, M. Tanaka1, T. Mishima1
and S. Yoshizawa1
1Saitamata University and 2Tokyo University of Science

Session SaP-II (OS): Robot Brain II

14:50 - 15:10 SaP-II-1
Does the invariance in multi-modalities represent the body scheme? - a case study with vision and proprioception -
Y. Yoshikawa, K. Hosoda and M. Asada
Osaka University

15:10 - 15:30 SaP-II-2
Synthesis of Dynamics Based Information Processing System of Robot Using Synchronization in the Coupled Arnold Equations
A. Sekiguchi1 and Y. Nakamura2,3
1Hirosaki University, 2University of Tokyo and 3CREST, JST

15:30 - 15:50 SaP-II-3
On-line dynamic obstacle avoidance
Z. Shiller
College of Judea and Samaria

15:50 - 16:10 SaP-II-4
Application of Lyapunov Function Based Synthesis of Nonsmooth Limit Cycles to Motion Generation for Humanoid Robots
M. Adachi, T. Ushio and S. Yamamoto
Osaka University

Session SaP-III (OS): Robot Brain III

16:25 - 16:45 SaP-III-1
Hierachical Design of Dynamics Based Information Processing System for Humanoid Motion Generation
M. Okada1, D. Nakamura1 and Y. Nakamura1,2
1University of Tokyo and 2CREST, JST

16:45 - 17:05 SaP-III-2
Reductive Mapping for Sequential Patterns of Humanoid Body Motion
K. Tatani1 and Y. Nakamura1,2
1University of Tokyo and 2CREST,JST

17:05 - 17:25 SaP-III-3
Humanoid Robot Mechanisms for Responsive Mobility
M. Okada1, T. Shinohara1, T. Gotoh1, S. Ban1 and Y, Nakamura1,2
1University of Tokyo and 2CREST,JST

17:25 - 17:45 SaP-III-4
Whole-body Cooperative COG Control through ZMP Manipulation for Humanoid Robots
T. Sugihara1 and Y. Nakamura1,2
1University of Tokyo and 2CREST,JST

Closing Remarks
18:00 - 18:30