Hierarchical Implicit Feedback Structure in Passive Dynamic Walking

Yasuhiro Sugimoto; Koichi Osuka

doi:10.20965/jrm.2008.p0559

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JRM Vol.20 No.4 pp. 559-566

doi: 10.20965/jrm.2008.p0559

(2008)

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Hierarchical Implicit Feedback Structure in Passive Dynamic Walking

Yasuhiro Sugimoto and Koichi Osuka

Department of Mechanical Engineering, Graduate School of Science and Technology, Kobe University, Kobe, Japan, 1-1 Rokkodai-cho, Nada, Kobe 657-8501, Japan

Received:

February 5, 2008

Accepted:

April 23, 2008

Published:

August 20, 2008

Keywords:

Passive Dynamic Walking, Poincaré map, stability analysis, bifurcation

Abstract

Using a linearized analytical Poincaré map, we analyzed the stability of Passive Dynamic Walking (PDW), focusing on bifurcation phenomenon in PDW. Although it is well-known, bifurcation of the walking period has not been well studied. Based on our previous research, we derive an analytical Poincaré map for 2-period walking to discuss PDW stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincaré map.

Cite this article as:

Y. Sugimoto and K. Osuka, “Hierarchical Implicit Feedback Structure in Passive Dynamic Walking,” J. Robot. Mechatron., Vol.20 No.4, pp. 559-566, 2008.

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References

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Asada, K. MacDorman, H. Ishiguro, and Y. Kuniyoshi, “Cognitive developmental robotics as a new paradigm for the design of humanoid robots,” Robotics and Autonomous Systems, Vol.37, Nos.2-3, pp. 185-193, 2001.

[2] [2] A. Billard, Y. Epars, S. Calinon, S. Schaal, and G. Cheng, “Discovering optimal imitation strategies,” Robotics and Autonomous Systems, Vol.47, Nos.2-3, pp. 69-77, 2004.

[3] [3] B. Chiu, E. Keogh, and S. Lonardi, “Probabilistic discovery of time series motifs,” Proc. of the ninth ACM SIGKDD Int. Conf. on Knowledge discovery and data mining, pp. 493-498, 2003.

[4] [4] K. Church, “Empirical estimates of adaptation: the chance of two noriegas is closer to p/2 than p 2,” Proc. of the 17th Conf. on Computational linguistics, Vol.1, pp. 180-186, 2000.

[5] [5] P. Dunham and F. Dunham, “Effects of mother-infant social interactions on infants’ subsequent contingency task performance,” Child Development, Vol.61, No.3, pp. 785-793, 1990.

[6] [6] T. Inamura, I. Toshima, H. Tanie, and Y. Nakamura, “Embodied symbol emergence based on mimesis theory,” Int. Journal of Robotics Research, Vol.23, No.4, pp. 363-377, 2004.

[7] [7] M. Ito, K. Noda, Y. Hoshino, and J. Tani, “Dynamic and interactive generation of object handling behaviors by a small humanoid robot using a dynamic neural network model,” Neural Networks, Vol.19, No.3, pp. 323-337, 2006.

[8] [8] J. Lin, E. Keogh, S. Lonardi, and P. Patel, “Finding Motifs in Time Series,” Proc. of the 2nd Workshop on Temporal Data Mining, pp. 53-68, 2002.

[9] [9] C. Moore, “Joint Attention: Its Origins and Role in Development,” Lawrence Erlbaum Assoc Inc., March, 1995.

[10] [10] K. Murphy, “Switching Kalman filters,” Dept. of Computer Science, University of California, Berkeley, Tech. Rep., 1998.

[11] [11] C. Nehaniv and K. Dautenhahn, “The correspondence problem,” Imitation in Animals and Artifacts, pp. 41-61, 2002.

[12] [12] M. Okada, K. Tatani, and Y. Nakamura, “Polynomial design of the nonlinear dynamics for the brain-like information processing of whole body motion,” Robotics and Automation, 2002, Proc., ICRA’02, IEEE Int. Conf. on, Vol.2, 2002.

[13] [13] K. Sugiura and N. Iwahashi, “Learning Object-Manipulation Verbs for Human-Robot Communication,” Workshop on Multimodal Interfaces in Semantic Interaction, Int. Conf. on Multimodal Interfaces, 2007.

[14] [14] Y. Tanaka, K. Iwamoto, and K. Uehara, “Discovery of Time-Series Motif from Multi-Dimensional Data Based on MDL Principle,” Machine Learning, Vol.58, No.2, pp. 269-300, 2005.

[15] [15] T. Taniguchi and T. Sawaragi, “Incremental acquisition of behaviors and signs based on a reinforcement learning schemata model and a spike timing-dependent plasticity network,” Advanced Robotics, Vol.21, No.10, pp. 1177-1199, 2007.

[16] [16] M. Tomasello, “The Cultural Origins of Human Cognition,” Harvard Univ Pr, reprint edition, March, 2001.

[17] [17] K. Umemura, “Related Word-pairs Extraction without Dictionaries,” Technical report, IPA Exploratory Software Project development result report, 2000 (in Japanese)
http://www.ipa.go.jp/archive/NBP/12nendo/12mito/mdata/10-36h/10-36h.pdf

[18] [18] J. Watson, “Contingency perception in early social development,” Social perception in infants, pp. 157-176, 1985.

[19] [19] R. Yokoya, T. Ogata, J. Tani, K. Komatani, and H. Okuno, “Experience Based Imitation Using RNNPB,” Intelligent Robots and Systems, 2006 IEEE/RSJ Int. Conf. on, pp. 3669-3674, 2006.