Biological cybernetics.
Publisher:
Springer-Verlag.. Berlin : Springer Verlag
Frequency: Twelve no. a year
Country: Germany
Language: ger
Start Year:1975 -
ISSN:
0340-1200 (Print)
1432-0770 (Electronic)
0340-1200 (Linking)
1432-0770 (Electronic)
0340-1200 (Linking)
Impact Factor
1.9
2022
| NLM ID: | 7502533 |
| (DNLM): | B16640000(s) |
| (OCoLC): | 02241165 |
| Coden: | BICYAF |
| LCCN: | 75643405 |
| Classification: | W1 BI742 |
Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot. This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling as follows: results indicate a speed optimal walking frequency around 3.4 Hz, an...
Predictability of visual perturbation during locomotion: implications for corrective efference copy signaling. In guiding adaptive behavior, efference copy signals or corollary discharge are traditionally considered to serve as predictors of self-generated sensory inputs and by interfering with their central processing are able to counter unwanted consequences of an animal's own actions. Here, in a speculative reflection on this issue, we consider a different functional role for such intrinsic predictive signaling, namely in stabilizing gaze during locomotion where resultant changes in head orientation in space require online compensatory eye movements in order to prevent retinal image slip. The direct...