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Investigation of Reality Constraints: Morphology and Controller of Two-Link Legged Locomotors for Dynamically Stable Locomotion

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From Animals to Animats 9 (SAB 2006)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4095))

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Abstract

In this paper, we purpose to reveal effective design components for morphological functionality and reality constraints by analyzing simple locomotors in both virtual and real worlds. Firstly, we assumed that human experiences and techniques contained important design components so that we conducted edutainment course to acquire locomotors, which were heuristically designed. Then, we analyzed two remarkable locomotors in both virtual and real worlds. As a result, we have known that symmetrical design played an important role on dynamically stable locomotion because its design enabled to exploit its own dynamics as passive dynamics and also widened its controllability. Addition to it, the locomotors in both virtual and real worlds demonstrated similar characteristics.

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Author information

Authors and Affiliations

  1. Dept. of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Kojiro Matsushita, Hiroshi Yokoi & Tamio Arai

Authors
  1. Kojiro Matsushita
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  2. Hiroshi Yokoi
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  3. Tamio Arai
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Editor information

Editors and Affiliations

  1. Institute of Cognitive Sciences and Technologies, LARRAL, Via S. Martino della Battaglia 44, 00185, Roma, Italy

    Stefano Nolfi

  2. Institute of Cognitive Science and Technology, (ISTC-CNR), Via San Martino della Battaglia 44, 00185, Rome, Italy

    Gianluca Baldassarre

  3. Institute of Cognitive Science and Technology, ISTC-CNR, Via S. Martino della Battaglia 44, 00185, Rome, Italy

    Raffaele Calabretta  & Davide Marocco  & 

  4. The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Campusvej 55, 5230, Odense M, Denmark

    John C. T. Hallam

  5. UPMC Univ Paris 6, FRE2507, ISIR, F-75016, Paris, France

    Jean-Arcady Meyer

  6. Laboratory of Autonomous Robotics and Artificial Life, Institute of Cognitive, Sciences and Technologies, National Research Council, Rome, Italy

    Orazio Miglino

  7. Institute of Cognitive Sciences and Technologies, National Research Council, 44, Via San Martino della, 00185, Rome, Battaglia, Italy

    Domenico Parisi

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© 2006 Springer-Verlag Berlin Heidelberg

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Matsushita, K., Yokoi, H., Arai, T. (2006). Investigation of Reality Constraints: Morphology and Controller of Two-Link Legged Locomotors for Dynamically Stable Locomotion. In: Nolfi, S., et al. From Animals to Animats 9. SAB 2006. Lecture Notes in Computer Science(), vol 4095. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11840541_9

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  • DOI: https://doi.org/10.1007/11840541_9

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-38608-7

  • Online ISBN: 978-3-540-38615-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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