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Volumn 8, Issue 6, 1998, Pages 777-782

Biorobotic approaches to the study of motor systems

Author keywords

[No Author keywords available]

Indexed keywords

HUMAN; LIMB MOVEMENT; LOCOMOTION; MOTONEURON; NONHUMAN; PRIORITY JOURNAL; REVIEW; ROBOTICS;

EID: 0031674216     PISSN: 09594388     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0959-4388(98)80121-9     Document Type: Article
Times cited : (74)

References (54)
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    • Hirai K, Hirose M, Haikawa Y, Takenaka T. The development of Honda humanoid robot. of special interest Proceedings of the IEEE International Conference on Robotics and Automation. 1998;1321-1326 Although only loosely inspired by biology, the bipedal robot developed by these authors is one of the most sophisticated free-walking humanoid robots in existence, with six DOF per leg and seven DOF per arm. It can walk forward, backward, or sideways, walk up or down stairs, step over obstacles, turn in any direction, and maintain its posture on uneven terrain.
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    • Beer RD, Quinn RD, Chiel HJ, Ritzmann RE. Biologically inspired approaches to robotics. of outstanding interest Commun Associ Comput Machinery. 40:1997;30-38 Reviews a series of insect-like legged robots whose control is based on experimental studies of leg coordination and local leg reflexes in the cockroach, walking stick, and locust. The most sophisticated robot can walk with a range of insect gaits at speeds up to 14 cm/s and negotiate irregular, slatted and compliant surfaces. The robotic application of dynamical neural circuits for walking that were evolved using genetic algorithms is also briefly described.
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    • Bachman, R.J.1    Nelson, G.M.2    Flannigan, W.C.3    Quinn, R.D.4    Watson, J.T.5    Tryba, A.K.6    Ritzmann, R.E.7
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    • of outstanding interest. Describes a postural controller for the cockroach-like hexapod robot described in [24] based on a virtual model control scheme that uses a single virtual leg model of the robot's mechanics to encourage equal load distribution and minimize joint torques in the supporting legs. With this control scheme, the robot can adjust its posture to commanded body positions and orientations, smoothly recover from substantial postural perturbations, and lift a 30 pound payload.
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    • Mojarrad M, Shahinpoor M. Biomimetic robotic propulsion using polymeric artificial muscles. Proceedings of the IEEE International Conference on Robotics and Automation. 1997;2152-2157 A polyelectrolyte ion exchange membrane-metal composite muscle-like actuator was used as a caudal fin for a robotic swimmer. This material bends as a result of ion redistribution in response to an imposed electric field. By driving the fin with an oscillatory voltage signal, a traveling bend was produced that propagated along the length of the actuator, shedding vortices that propel the robotic fish.
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    • (1998) Proceedings of the IEEE International Conference on Robotics and Automation , pp. 1641-1646
    • Hoshino, K.1    Mura, F.2    Morii, H.3    Suematsu, K.4    Shimoyama, I.5
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    • of special interest. The authors describe a neural network crash avoidance system for wheeled vehicles based on the neural circuitry controlling the cockroach escape response. The network receives proximity, wheel speed and steering angle inputs and outputs vehicle acceleration and steering angle. The network was trained using backpropagation to produce successful avoidance responses.
    • Chen C-T, Quinn RD, Ritzmann RE. A crash avoidance system based upon the cockroach escape response circuit. of special interest Proceedings of the IEEE International Conference on Robotics and Automation. 1997;2007-2012 The authors describe a neural network crash avoidance system for wheeled vehicles based on the neural circuitry controlling the cockroach escape response. The network receives proximity, wheel speed and steering angle inputs and outputs vehicle acceleration and steering angle. The network was trained using backpropagation to produce successful avoidance responses.
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    • Chen C-T1    Quinn, R.D.2    Ritzmann, R.E.3
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    • A robotic system emulating the adaptive orienting behavior of the barn owl
    • of outstanding interest. Using a robotic head with a camera and two lateral microphones surrounded by an array of lights and buzzers, the authors explore the use of visual information to calibrate auditory orientation in a model of plasticity in the inferior colliculus and optic tectum of the barn owl. The robotic head develops spatial registration between auditory and visual maps in the model optic tectum. In addition, the robot can appropriately adapt these maps after the visual image is shifted through prismatic goggles and after the removal of these goggles.
    • Rucci M, Wray J, Tononi G, Edelman GM. A robotic system emulating the adaptive orienting behavior of the barn owl. of outstanding interest Proceedings of the IEEE International Conference on Robotics and Automation. 1997;443-448 Using a robotic head with a camera and two lateral microphones surrounded by an array of lights and buzzers, the authors explore the use of visual information to calibrate auditory orientation in a model of plasticity in the inferior colliculus and optic tectum of the barn owl. The robotic head develops spatial registration between auditory and visual maps in the model optic tectum. In addition, the robot can appropriately adapt these maps after the visual image is shifted through prismatic goggles and after the removal of these goggles.
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    • Rucci, M.1    Wray, J.2    Tononi, G.3    Edelman, G.M.4
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    • Robust spatial navigation in a robot inspired by chemotaxis in C. elegans
    • of outstanding interest. Describes a mobile robot that navigates using phototaxis, based on studies of chemotaxis in Caenorhabditis elegans. The robot moves forward at a constant velocity with a controllable steering angle. A single photocell at the front of the robot senses light intensity. Linear dynamic neural networks based loosely on the chemotaxis circuitry of C. elegans were optimized for phototaxis in simulation and then transferred to the robot. The trajectories of the robot closely matched those observed in C. elegans and were robust to perturbations in instantaneous speed and steering angle. An analysis of the optimized networks provided insight into its operator.
    • Morse TM, Ferrée TC, Lockery SR. Robust spatial navigation in a robot inspired by chemotaxis in C. elegans. of outstanding interest Adaptive Behavior. 6:1998;393-410 Describes a mobile robot that navigates using phototaxis, based on studies of chemotaxis in Caenorhabditis elegans. The robot moves forward at a constant velocity with a controllable steering angle. A single photocell at the front of the robot senses light intensity. Linear dynamic neural networks based loosely on the chemotaxis circuitry of C. elegans were optimized for phototaxis in simulation and then transferred to the robot. The trajectories of the robot closely matched those observed in C. elegans and were robust to perturbations in instantaneous speed and steering angle. An analysis of the optimized networks provided insight into its operator.
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    • Morse, T.M.1    Ferrée, T.C.2    Lockery, S.R.3
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    • A robot attracted to the cricket species Gryllus bimaculatus
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    • of outstanding interest Lund HH, Webb B, Hallam J. A robot attracted to the cricket species Gryllus bimaculatus. Husbands P, Harvey I. Fourth European Conference on Artificial Life. 1997;246-255 MIT Press, Cambridge, Massachusetts, A small wheeled robot was used to test a model of cricket phonotaxis. The robot includes microphones representing left/right pairs of tympani and spindles and an electronic model of the cricket auditory system. The outputs of this auditory circuit are fed into leaky integrators and whichever side reaches threshold first causes a small turn in that direction. The robot was exposed to a recorded calling song of male Gryllus bimaculatus. The authors demonstrate that this simple model can account for both phonotaxis and frequency selectivity due to the frequency dependence of ear directionality.
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    • One tone, two ears, three dimensions: A robotic investigation of pinnae movements used by rhinolophid and hipposiderid bats
    • of outstanding interest. The authors extend the work described in [40] to investigate the consequences of pinnae movements in bats by allowing the robot's ultrasound receivers to move via servomotors. They find that such movements have two benefits: first, they produce different viewing perspectives over which interaural intensity disparities can be sampled, and second, they produce amplitude modulations of returning echoes that vary systematically with target elevation.
    • Walker VA, Peremans H, Hallam JCT. One tone, two ears, three dimensions: a robotic investigation of pinnae movements used by rhinolophid and hipposiderid bats. of outstanding interest J Acoust Soc Am. 104:1998;569-579 The authors extend the work described in [40] to investigate the consequences of pinnae movements in bats by allowing the robot's ultrasound receivers to move via servomotors. They find that such movements have two benefits: first, they produce different viewing perspectives over which interaural intensity disparities can be sampled, and second, they produce amplitude modulations of returning echoes that vary systematically with target elevation.
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    • Segmentation of endpoint trajectories does not imply segmented control
    • of outstanding interest
    • Sternad D, Schaal S. Segmentation of endpoint trajectories does not imply segmented control. of outstanding interest Exp Brain Res. 1998; This paper examines two hypotheses regarding the motion primitives underlying movement segmentation in three-dimensional drawing movements by humans: firstly, a stroke-based primitive suggested by abrupt changes in the velocity gain factor of a 2 3 power law relationship between curvature of the drawing path and angular velocity of the endpoint trajectory; and secondly, a segmentation hypothesis inferred from the piecewise planarity of endpoint trajectories. Using a seven DOF anthropomorphic arm, the authors demonstrate that continuous movements at the level of the biomechanics of the arm can account for the observed segmentation of endpoint trajectories due to nonlinearities in arm kinematics.
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    • The anthroform biorobotic arm: A system for the study of spinal circuits
    • Hannaford B, Winters JM, Chou C-P, Marbot P-H. The anthroform biorobotic arm: a system for the study of spinal circuits. Ann Biomed Eng. 23:1995;399-408.
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    • Hannaford, B.1    Winters, J.M.2    Chou C-P3    Marbot P-H4
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    • Study of human forearm posture maintenance with a physiologically based robotic arm and spinal level neural controller
    • of outstanding interest. A robotic model of the human elbow is used to explore the maintenance of human forearm posture by spinal circuitry. The robotic elbow includes two McKibben braided pneumatic actuators whose attachment points mimic those of human elbow flexor and extensor muscles. The model also includes model Golgi tendon organs and muscle spindles. The authors explore open loop stiffness control via co-contraction, closed loop stiffness control with la or lb afferent feedback, and posture maintenance using a model of spinal reflex circuitry. They also demonstrate how gamma dynamic excitation is essential to produce velocity feedback of the la signal, which increases closed-loop damping, and how alpha motoneuron activation compensates for the lowpass filtering properties of muscle by acting as a feedforward phase-lead controller.
    • Chou C-P, Hannaford B. Study of human forearm posture maintenance with a physiologically based robotic arm and spinal level neural controller. of outstanding interest Biol Cybern. 76:1997;285-298 A robotic model of the human elbow is used to explore the maintenance of human forearm posture by spinal circuitry. The robotic elbow includes two McKibben braided pneumatic actuators whose attachment points mimic those of human elbow flexor and extensor muscles. The model also includes model Golgi tendon organs and muscle spindles. The authors explore open loop stiffness control via co-contraction, closed loop stiffness control with la or lb afferent feedback, and posture maintenance using a model of spinal reflex circuitry. They also demonstrate how gamma dynamic excitation is essential to produce velocity feedback of the la signal, which increases closed-loop damping, and how alpha motoneuron activation compensates for the lowpass filtering properties of muscle by acting as a feedforward phase-lead controller.
    • (1997) Biol Cybern , vol.76 , pp. 285-298
    • Chou C-P1    Hannaford, B.2
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    • Quantification of masticatory efficiency with a mastication robot
    • of special interest. The authors use a robotic model of the human jaw to quantify the mastication efficiency of different mandibular motions. The robot consists of an epoxy resin human skull replica with a three DOF jaw actuated by nine motors with force sensors that model the major jaw muscles. Using a small ball-like cookie, they compared the efficiency of two different chewing motions and found a grinding motion to be more efficient than a clenching motion.
    • Takanobu H, Yajima T, Nakazawa M, Takanishi A, Ohtsuki K, Ohnishi M. Quantification of masticatory efficiency with a mastication robot. of special interest Proceedings of the IEEE International Conference on Robotics and Automation. 1998;1635-1640 The authors use a robotic model of the human jaw to quantify the mastication efficiency of different mandibular motions. The robot consists of an epoxy resin human skull replica with a three DOF jaw actuated by nine motors with force sensors that model the major jaw muscles. Using a small ball-like cookie, they compared the efficiency of two different chewing motions and found a grinding motion to be more efficient than a clenching motion.
    • (1998) Proceedings of the IEEE International Conference on Robotics and Automation , pp. 1635-1640
    • Takanobu, H.1    Yajima, T.2    Nakazawa, M.3    Takanishi, A.4    Ohtsuki, K.5    Ohnishi, M.6
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    • Behavioral constraints in the development of neuronal properties: A cortical model embedded in a real-world device
    • Using a wheeled robot equipped with a camera and a 'taste' sensor (based on electrical conductivity), the authors explore the development of selective and invariant responses of cortical neurons to complex visual stimuli. When embedded in an environment containing conductive and nonconductive objects with different visual patterns, the robot develops an attraction to visual patterns associated with nonconductive objects and an aversion to visual patterns associated with conductive objects. They found that the robot's movement was essential to the development of selective and translation invariant cortical responses, and that these responses depended on the physical design of the robot and the relative frequency of the various objects in the environment.
    • Almássy N, Edelman GM, Sporns O. Behavioral constraints in the development of neuronal properties: a cortical model embedded in a real-world device. Cereb Cortex. 8:1998;346-361 Using a wheeled robot equipped with a camera and a 'taste' sensor (based on electrical conductivity), the authors explore the development of selective and invariant responses of cortical neurons to complex visual stimuli. When embedded in an environment containing conductive and nonconductive objects with different visual patterns, the robot develops an attraction to visual patterns associated with nonconductive objects and an aversion to visual patterns associated with conductive objects. They found that the robot's movement was essential to the development of selective and translation invariant cortical responses, and that these responses depended on the physical design of the robot and the relative frequency of the various objects in the environment.
    • (1998) Cereb Cortex , vol.8 , pp. 346-361
    • Almássy, N.1    Edelman, G.M.2    Sporns, O.3
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    • 0030661395 scopus 로고    scopus 로고
    • Investigation of bipedal robot locomotion using pneumatic muscle actuators
    • of special interest. Describes the use of McKibben pneumatic actuators as flexors and extensors for the hip and knee joints of a pair of robotic legs. Standing and striding experiments demonstrate that such actuators are promising artificial muscles that are fast, light, powerful, and compliant.
    • Caldwell DG, Medrano-Cerda GA, Bowler CJ. Investigation of bipedal robot locomotion using pneumatic muscle actuators. of special interest Proceedings of the IEEE International Conference on Robotics and Automation. 1997;799-804 Describes the use of McKibben pneumatic actuators as flexors and extensors for the hip and knee joints of a pair of robotic legs. Standing and striding experiments demonstrate that such actuators are promising artificial muscles that are fast, light, powerful, and compliant.
    • (1997) Proceedings of the IEEE International Conference on Robotics and Automation , pp. 799-804
    • Caldwell, D.G.1    Medrano-Cerda, G.A.2    Bowler, C.J.3


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.