This paper describes the dynamic analysis of biped locomotion systems. A planar biped is inodelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip height, hip ripple, hip oflset, foot clearance and link lengths, Afterwards, three cost functions related to energy are pro...

In this paper we discuss the application of switching control to problems in intelligent robot control. We will show a connection between research issues in robot locomotion and issues in robot gymnastics, and robot air hockey. These problems are fundamentally related to the control of redundant and underactuated robots. We discuss the general problem of switching control and relate these conce...

Individuals vary greatly in their willingness to select and persist in effortful tasks, even when high-effort will knowingly result in high-reward. Individuals who select and successively complete effortful, goal-directed tasks can be described as industrious. Trying to increase one's industriousness is desirable from a productivity standpoint, yet intrinsically challenging given that effort ex...

High novelty seeking is a complex personality attribute correlated with risk for substance abuse. There are many putative mouse models of some aspects of novelty seeking, but little is known of genetic similarities among these models. To assess the genetic coherence of "novelty seeking," we compared the performance of 14 inbred strains of mice in five tests: activity in a novel environment, nov...

In this paper we present a couple of evolutionary motion generation methods using genetic algorithms (GA) for self-reconfigurable modular robot M-TRAN and demonstrate their effectiveness through hardware experiments. Using these methods, feasible solutions with sufficient performance can be derived for a motion generation problem with high complexity coming from huge configuration and motion po...

The traditional study of infant locomotion focuses on what movements look like at various points in development, and how infants acquire sufficient strength and balance to move. We describe a new view of locomotor development that focuses on infants' ability to adapt their locomotor decisions to variations in the environment and changes in their bodily propensities. In the first section of the ...

We present a novel analysis technique to understand the dynamics of a recently described locomotion mode called legless locomotion. Legless locomotion is a locomotion mode available to a legged robot when it becomes high-centered, that is, when its legs do not touch the ground. Under these conditions, the robot may still locomote in the plane by swinging its legs in the air, rocking on its body...

AN ARCHITECTURE FOR BEHAVIORAL LOCOMOTION BARRY D. REICH NORMAN I. BADLER We present a complete architecture for behavioral control of locomotion for both real and simulated agents and provide a design methodology for building the locomotion control systems that embody the architecture. A low-level locomotion engine controls an agent’s actions directly based on intermediate-level reactive behav...

the mesolimbic dopamine (da) system contains both d1-like and d2-like receptors, has been connected to control of locomotor behavior. an apparent role for d1 and d2 receptors throughout the mesolimbic system in the alteration of locomotor behavior has been demonstrated in pharmacological studies. the nucleus accumbens (nac) is comprised of a core and a shell subregion, which is a component of t...