Evaluating alternative gait strategies using evolutionary robotics

Evolutionary robitics is a branch of artificial intelligence concerned with the automatic generation of autonomous robots. Usually the form of the robit is predefined an various computational techniques are used to control the machine's behaviour. One aspect is the spontaneous generation of walking in legged robots and this can be used to investigate the mechanical requiements for efficient walking in bipeds. This paper demonstrates a bipedal simulator that spontaneously generates walking and running gaits. The model can be customized to represent a range of hominoid morphologies and used to predict performance paramets such as preferred speed and metabolic energy cost. Because it does not require any motion capture data it is particularly suitable for investigating locomotion in fossil animals. The predictoins for modern humans are highly accurate in terms of energy cost for a given speend and thus the values predicted for other bipeds are likely to be good estimates. To illustrate this the cost of transport is calculated for Australopithecus afarensis. The model allows the degree of maximum extension at the knee to be varied causing the model to adopt walking gaits varying from chimpanzee-like to human=like. The energy costs associated with these gait choices can thus be calculated and this information used to evaluate possible locomotor strategies in early hominids

The Becker-Döring equations with monomer input, competition and inhibition

We investigate the Becker-Döring model of nucleation with three generalisations; an input of monomer, an input of inhibitor and finally, we allow the monomers to form two morphologies of cluster. We assume size-independent aggregation and fragmentation rates. Initially we consider the problem of constant monomer input and determine the steady-state solution approached in the large-time limit, and the manner in which it is approached. Secondly, in addition to a constant input of monomer we allow a constant input of inhibitor, which prevents clusters growing any larger and this removes them from the kinetics of the process; the inhibitor is consumed in the action of poisoning a cluster. We determine a critical ratio of poison to monomer input below which the cluster concentrations tend to a non-zero steady-state solution and the poison concentration tends to a finite value. Above the critical input ratio, the concentrations of all cluster sizes tend to zero and the poison concentration grows without limit. In both cases the solution in the large-time limit is determined. Finally we consider a model where monomers form two morphologies, but the inhibitor only acts on one morphology. Four cases are identified, depending on the relative poison to monomer input rates and the relative thermodynamic stability. In each case we determine the final cluster distribution and poison concentration. We find that poisoning the less stable cluster type can have a significant impact on the structure of the more stable cluster distribution; a counter-intuitive result. All results are shown to agree with numerical simulation.