Special Issue on Dynamically and Biologically Inspired Legged Locomotion

2017 ◽  
Vol 29 (3) ◽  
pp. 455-455
Author(s):  
Tetsuya Kinugasa ◽  
◽  
Koh Hosoda ◽  
Masatsugu Iribe ◽  
Fumihiko Asano ◽  
...  
Keyword(s):  
Design Method ◽  
Joint Stiffness ◽  
Legged Locomotion ◽  
The Body ◽  
Biological Characteristics ◽  
Dynamic Walking ◽  
Special Issue ◽  
Biologically Inspired ◽  
Passive Dynamic Walking ◽  
Wide Range

Legged locomotion, including walking, running, turning, and jumping, strongly depends on the dynamics and biological characteristics of the body involved. Gait patterns and energy efficiency, for example, are known to be greatly affected by not only travel velocity and ground contact conditions but also by body configuration, such as joint stiffness and coordination, as well as foot sole shape. To understand legged locomotion principles, we must clarify how the body’s dynamic and biological characteristics affect locomotion. Effort must also be made to incorporate these characteristics inventively to improve locomotion performance, such as robustness, adaptability, and efficiency, which further refine the legged locomotion. This special issue on “Dynamically and Biologically Inspired Legged Locomotion,” studies on legged locomotion based on dynamic and biological characteristics, covers a wide range of themes, such as a rimless wheel, a design method for a biped based on passive dynamic walking, the analysis of biped locomotion based on passive dynamic walking and dynamically inspired walking, an analysis of gait generation for a triped robot, and quadruped locomotion with a flexible trunk. Since there are interesting papers on legged robots with different numbers of legs, we basically organized the papers based on the number of legs. Studies on “Dynamically and Biologically Inspired Legged Locomotion” are expected to not only realize and improve legged locomotion as engineering, but also to reveal the locomotion mechanism of various creatures as science.

Dynamically and Biologically Inspired Legged Locomotion: A Review

2017 ◽  
Vol 29 (3) ◽  
pp. 456-470 ◽  
Author(s):  
Tetsuya Kinugasa ◽  
◽  
Yasuhiro Sugimoto ◽  
Keyword(s):  
Joint Stiffness ◽  
Legged Locomotion ◽  
Travel Speed ◽  
The Body ◽  
Biological Characteristics ◽  
Body Structure ◽  
Special Issue ◽  
Biologically Inspired ◽  
Contact Conditions ◽  
Gait Patterns

[abstFig src='/00290003/01.jpg' width='300' text='Passive dynamic walking: RW03 and Jenkka III' ] Legged locomotion, such as walking, running, turning, and jumping depends strongly on the dynamics and the biological characteristics of the body involved. Gait patterns and energy efficiency, for instance, are known to be greatly affected, not only by travel speed and ground contact conditions but also by body structure such as joint stiffness and coordination, and foot sole shape. To understand legged locomotion principles, we must elucidate how the body’s dynamic and biological characteristics affect locomotion. Efforts should also be made to incorporate these characteristics inventively in order to improve locomotion performance with regard to robustness, adaptability, and efficiency, which realize more refined legged locomotion. For this special issue, we invited our readers to submit papers with approaches to achieving legged locomotion based on dynamic and biological characteristics and studies investigating the effects of these characteristics. In this paper, we review studies on dynamically and biologically inspired legged locomotion.

DLR natural and hybrid transonic laminar wing design incorporating new methodologies

2015 ◽  
Vol 119 (1221) ◽  
pp. 1303-1326 ◽  
Author(s):  
T. Streit ◽  
S. Wedler ◽  
M. Kruse
Keyword(s):  
Laminar Flow ◽  
Design Method ◽  
Computational Cost ◽  
Cross Flow ◽  
The Body ◽  
Wing Design ◽  
Swept Wing ◽  
Design Work ◽  
Wide Range ◽  
New Methodologies

AbstractIn the present work natural laminar flow (NLF) and hybrid laminar flow (HLF) wing designs are presented which were obtained by combining new methodologies with experience and knowledge obtained with traditional laminar wing design methods. The NLF wing design is performed for wing-body configurations with backward swept wing (BSW) and forward swept wing (FSW). Initial aerofoil sections were obtained by using a new sectional conical wing method which allows the design of transonic wing sections, taking into account the effects of sweep and taper for the computational cost of a 2D method. Except for flow regions with strong 3D influence, wings constructed with these aerofoils showed an acceptably large region with laminar boundary layer and small shocks at design and specified off-design conditions. For regions close to the body and the tip a 3D inverse design method was further required. For the BSW case, due to cross flow a premature transition occurred. Therefore, a HLF panel was required to obtain a larger laminar region. A suction distribution was obtained using the suction distribution module of the automated target pressure generator (ATPG). This generator optimises the pressure distributions in terms of minimising drag while keeping certain boundary conditions constant, e.g. lift and momentum. Using the ATPG, the laminar extent of the BSW NLF design could be further improved for the inboard wing. With the new methodologies design work was reduced. They lead to a design with reserves that allow for acceptable off-design performance qualities by keeping the wing laminar over a wide range of flight conditions.

Selected Papers from NaBIC 2010

2011 ◽  
Vol 15 (9) ◽  
pp. 1299-1299
Author(s):  
Yusuke Nojima ◽  
Mario K?ppen
Keyword(s):  
Heart Rate ◽  
Heart Rate Variability ◽  
Evolutionary Computation ◽  
Machine Intelligence ◽  
Darwinian Evolution ◽  
Special Issue ◽  
Interactive Evolutionary Computation ◽  
Biologically Inspired ◽  
Fitness Value ◽  
Wide Range

The Second World Congress on Nature and Biologically Inspired Computing (NaBIC2010) was held at the Kitakyushu International Conference Center December 15-17, 2010, in Kitakyushu, Japan. NaBIC2010 provided a forum for researchers, engineers, and students from worldwide to discuss state-of-the-art machine intelligence and to address issues related to building human-friendly machines by learning from nature. NaBIC2010 covered a wide range of studies ? from theoretical and algorithmic studies on nature and biologically inspired computing techniques to their real-world applications. Top researchers presenting papers at NaBIC2010 were invited to contribute to this special issue. Through a fair peer review process, four extended papers have been accepted ? an acceptance rate of 50%. The first paper entitled gA Study on Computational Efficiency and Plasticity in Baldwinian Learningh by Liu and Iba analyzes Baldwinian evolution efficiency by comparing it to alternatives such as standard Darwinian evolution with no learning, Lamarckian evolution, and Baldwinian evolution with different learning and plasticity evolution. The second paper entitled gExperimental Study of a Structured Differential Evolution with Mixed Strategiesh by Ishimizu and Tagawa proposes island-based DE with ring or torus networks. The authors examine the performance of the proposed DE with the effects of different strategies. The third paper entitled gMulti-Space Competitive DGA for Model Selection and its Application to Localization of Multiple Signal Sourcesh by Ishikawa, Misawa, Kubota, Tokiwa, Horio, and Yamakawa proposes a distributed genetic algorithm in which each subpopulation searches for a solution in different decision space. Subpopulations change size based on search progress. The fourth paper entitled gAn Extended Interactive Evolutionary Computation Using Heart Rate Variability as Fitness Value for Composing Music Chord Progressh by Fukumoto, Nakashima, Ogawa, and Imai uses heart-rate variability instead of direct human evaluations in an interactive evolutionary computation framework. As guest editors of this special issue, we would like to thank the authors for their unique and interesting contributions and the reviewers for their careful checking and invaluable comments.

Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties

2007 ◽  
Vol 19 (4) ◽  
pp. 402-408 ◽  
Author(s):  
Masatsugu Iribe ◽  
◽  
Koichi Osuka ◽  
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Design Method ◽  
Dynamic Properties ◽  
The Other ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking ◽  
Model Based Control ◽  
Adopted Model

Most mobile robot development has adopted model-based control. On the other hand, we focused on the passive dynamic walking robot that walks only by its dynamics. If the principle of the passive dynamic walking robot is analyzed and clarified, we could apply it to conventional walking robot control, and improve the performance of it. For this reason we tried to develop new design of the passive dynamic walking robot. In this paper we describe the robot’s dynamic properties, and propose a new design method applying these properties.

Asymptotic Realization of Desired Control Performance by Body Adaptation of Passive Dynamic Walker

2017 ◽  
Vol 29 (3) ◽  
pp. 480-489 ◽  
Author(s):  
Daisuke Ura ◽  
◽  
Yasuhiro Sugimoto ◽  
Yuichiro Sueoka ◽  
Koichi Osuka
Keyword(s):  
Design Method ◽  
Step Length ◽  
Physical Parameters ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Trial And Error ◽  
Leg Length ◽  
Passive Dynamic Walking ◽  
Variable Parameters ◽  
Passive Dynamic Walker

[abstFig src='/00290003/03.jpg' width='300' text='Schematic of the proposed design method' ] This article proposes a design method of legged walking robot hardware capable of performing passive dynamic walking with its desirable characteristics. Passive dynamic walking has a relatively good energy efficiency, and is said to be similar to the walking style of animals. However, most legged robot hardware capable of passive dynamic walking is designed through trial and error on the basis of experience. One of the major problems of designing through trial and error is the difficulty of verifying walking for the legged robot hardware that has many degree of freedom. It is relatively easy to determine the initial condition for compass-type robot hardware. However, it often takes long time to determine the appropriate initial conditions and slope angles for complicated robots such as legged robots with knees. We proposed and verified a method to design a legged robot with knees that has a desired leg length and leg mass from a compass-type legged robot. In this article, we propose a method to design a passive dynamic walker that has a desired leg angle, step length, leg mass, etc., and verify the resulting design. More specifically, the physical parameters, such as the leg length, leg mass, and joint friction, are defined as “physical parameters” and the parameters acquired as the result of walking, such as the leg angle, step length, and walking cycle, are defined as “variable parameters.” By observing variable parameters while the robot is walking and by changing the physical parameters according to the observed variable parameters, the variable parameters are indirectly changed to desired values.

scholarly journals Overcoming Data Scarcity in Earth Science

Data ◽  
2020 ◽  
Vol 5 (1) ◽  
pp. 5
Author(s):  
Angela Gorgoglione ◽  
Alberto Castro ◽  
Christian Chreties ◽  
Lorena Etcheverry
Keyword(s):  
System Performance ◽  
Additional Data ◽  
Earth Science ◽  
The Body ◽  
Environmental Research ◽  
Research Articles ◽  
Special Issue ◽  
Data Scarcity ◽  
Body Of Knowledge ◽  
Wide Range

The Data Scarcity problem is repeatedly encountered in environmental research. This may induce an inadequate representation of the response’s complexity in any environmental system to any input/change (natural and human-induced). In such a case, before getting engaged with new expensive studies to gather and analyze additional data, it is reasonable first to understand what enhancement in estimates of system performance would result if all the available data could be well exploited. The purpose of this Special Issue, “Overcoming Data Scarcity in Earth Science” in the Data journal, is to draw attention to the body of knowledge that leads at improving the capacity of exploiting the available data to better represent, understand, predict, and manage the behavior of environmental systems at meaningful space-time scales. This Special Issue contains six publications (three research articles, one review, and two data descriptors) covering a wide range of environmental fields: geophysics, meteorology/climatology, ecology, water quality, and hydrology.

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