Learning legged locomotion

Legged locomotion of biological systems can be viewed as a self-organizing process of highly complex system-environment interactions. Walking behavior is, for example, generated from the interactions between many mechanical components (e.g., physical interactions between feet and ground, skeletons and muscle-tendon systems), and distributed informational processes (e.g., sensory information processing, sensory-motor control in central nervous system, and reflexes) [21]. An interesting aspect of legged locomotion study lies in the fact that there are multiple levels of self-organization processes (at the levels of mechanical dynamics, sensory-motor control, and learning). Previously, the self-organization of mechanical dynamics was nicely demonstrated by the so-called Passive Dynamic Walkers (PDWs; [18]). The PDW is a purely mechanical structure consisting of body, thigh, and shank limbs that are connected by passive joints. When placed on a shallow slope, it exhibits natural bipedal walking dynamics by converting potential to kinetic energy without any actuation. An important contribution of these case studies is that, if designed properly, mechanical dynamics can generate a relatively complex locomotion dynamics, on the one hand, and the mechanical dynamics induces self-stability against small disturbances without any explicit control of motors, on the other. The basic principle of the mechanical self-stability appears to be fairly general that there are several different physics models that exhibit similar characteristics in different kinds of behaviors (e.g., hopping, running, and swimming; [2, 4, 9, 16, 19]), and a number of robotic platforms have been developed based on them [1, 8, 13, 22]. © 2009 Springer London.

AI in locomotion: Challenges and perspectives of underactuated robots

This article discusses the issues of adaptive autonomous navigation as a challenge of artificial intelligence. We argue that, in order to enhance the dexterity and adaptivity in robot navigation, we need to take into account the decentralized mechanisms which exploit physical system-environment interactions. In this paper, by introducing a few underactuated locomotion systems, we explain (1) how mechanical body structures are related to motor control in locomotion behavior, (2) how a simple computational control process can generate complex locomotion behavior, and (3) how a motor control architecture can exploit the body dynamics through a learning process. Based on the case studies, we discuss the challenges and perspectives toward a new framework of adaptive robot control. © Springer-Verlag Berlin Heidelberg 2007.

Motor control optimization of compliant one-legged locomotion in rough terrain

While underactuated robotic systems are capable of energy efficient and rapid dynamic behavior, we still do not fully understand how body dynamics can be actively used for adaptive behavior in complex unstructured environment. In particular, we can expect that the robotic systems could achieve high maneuverability by flexibly storing and releasing energy through the motor control of the physical interaction between the body and the environment. This paper presents a minimalistic optimization strategy of motor control policy for underactuated legged robotic systems. Based on a reinforcement learning algorithm, we propose an optimization scheme, with which the robot can exploit passive elasticity for hopping forward while maintaining the stability of locomotion process in the environment with a series of large changes of ground surface. We show a case study of a simple one-legged robot which consists of a servomotor and a passive elastic joint. The dynamics and learning performance of the robot model are tested in simulation, and then transferred the results to the real-world robot. ©2007 IEEE.

One-legged locomotion with a compliant passive joint

There is an increasing attention of exploiting compliant materials for the purpose of legged locomotion, because they provide significant advantages in locomotion performance with respect to energy efficiency and stability. Toward establishing a fundamental basis for this line of research, a minimalistic locomotion model of a single legged system is explored in this paper. By analyzing the dynamic behavior of the system in simulation and a physical robotic platform, it is shown that a stable locomotion process can be achieved without the necessity of sensory feedback. In addition, further analysis characterizes the relation between motor control and the natural body dynamics determined by morphological properties such as body mass and spring constant. © 2006 The authors.

Finding resonance: Adaptive frequency oscillators for dynamic legged locomotion

There is much to gain from providing walking machines with passive dynamics, e.g. by including compliant elements in the structure. These elements can offer interesting properties such as self-stabilization, energy efficiency and simplified control. However, there is still no general design strategy for such robots and their controllers. In particular, the calibration of control parameters is often complicated because of the highly nonlinear behavior of the interactions between passive components and the environment. In this article, we propose an approach in which the calibration of a key parameter of a walking controller, namely its intrinsic frequency, is done automatically. The approach uses adaptive frequency oscillators to automatically tune the intrinsic frequency of the oscillators to the resonant frequency of a compliant quadruped robot The tuning goes beyond simple synchronization and the learned frequency stays in the controller when the robot is put to halt. The controller is model free, robust and simple. Results are presented illustrating how the controller can robustly tune itself to the robot, as well as readapt when the mass of the robot is changed. We also provide an analysis of the convergence of the frequency adaptation for a linearized plant, and show how that analysis is useful for determining which type of sensory feedback must be used for stable convergence. This approach is expected to explain some aspects of developmental processes in biological and artificial adaptive systems that "develop" through the embodied system-environment interactions. © 2006 IEEE.

Self-stabilization and behavioral diversity of embodied adaptive locomotion

Locomotion is of fundamental importance in understanding adaptive behavior. In this paper we present two case studies of robot locomotion that demonstrate how higher level of behavioral diversity can be achieved while observing the principle of cheap design. More precisely, it is shown that, by exploiting the dynamics of the system-environment interaction, very simple controllers can be designed which is essential to achieve rapid locomotion. Special consideration must be given to the choice of body materials. We conclude with some speculation about the importance of locomotion for understanding cognition. © Springer-Verlag Berlin Heidelberg 2004.

Improvement of the stability of hydrogenated amorphous silicon films by intermittent illumination treatment at elevated temperature

The intermittent illumination treatment by white light at elevated temperature is proved to be a convenient and efficient method for the improvement of the stability of hydrogenated amorphous silicon (a-Si:H) films. The effect of the treatment on electrical properties, light-induced degradation, and gap states of undoped a-Si:H films has been investigated in detail. With the increase of cycling number, the dark- as well as photo-conductivities in annealed state and light-soaked state approach each other, presenting an unique irreversible effect. The stabilization and ordering processes by the present treatment can not be achieved merely by annealing under the same conditions. It is shown that the treatment proposed here results in a shift to higher values of the energy barriers between defects and their precursors, and hence an improved stability of a-Si:H films. (C) 1996 American Institute of Physics.

Tank cultivation of the red alga Palmaria palmata: Effects of intermittent light on growth rate, yield and growth kinetics

Tank cultivation of marine macroalgae involves air-agitation of the algal biomass and intermittent light conditions, i.e. periodic, short light exposure of the thalli in the range of 10 s at the water surface followed by plunging to low light or darkness at the tank bottom and recirculation back to the surface in the range of 1-2 min. Open questions relate to effects of surface irradiance on growth rate and yield in such tumble cultures and the possibility of chronic photoinhibition in full sunlight. A specially constructed shallow-depth tank combined with a dark tank allowed fast circulation times of approximately 5 s, at a density of 4.2 kg fresh weight (FW) m(-2) s(-1). Growth rate and yield of the red alga Palmaria palmata increased over a wide range of irradiances, with no signs of chronic photoinhibition, up to a growth-saturating irradiance of approximately 1600 mumol m(-2) s(-1) in yellowish light supplied by a sodium high pressure lamp at 16 h light per day. Maximum growth rate ranged at 12% FW d(-1), and maximum yield at 609 g FW m(-2) d(-1). This shows that high growth rates of individual thalli may be reached in a dense tumble culture, if high surface irradiances and short circulation times are supplied. Another aspect of intermittent light relates to possible changes of basic growth kinetics, as compared to continuous light. For this purpose on-line measurements of growth rate were performed with a daily light reduction by 50% in light-dark cycles of 1, 2 or 3 min duration during the daily light period. Growth rates at 10degreesC and 50 mumol photon m(-2) s- 1 dropped in all three intermittent light regimes during both the main light and dark periods and reached with all three periodicities approximately 50% of the control, with no apparent changes in basic growth kinetics, as compared to continuous light.

Dynamically Stable Legged Locomotion (September 1985-Septembers1989)

This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of animal locomotion. In this report we focus on the control of biped locomotion, the use of terrain footholds, running at high speed, biped gymnastics, symmetry in running, and the mechanical design of articulated legs.

The role of binocular vision in primate locomotion.

Dissertation

Flexible C : N ratio enhances metabolism of large phytoplankton when resource supply is intermittent

Phytoplankton cell size influences particle sinking rate, food web interactions and biogeographical distributions. We present a model in which the uptake, storage and assimilation of nitrogen and carbon are explicitly resolved in different-sized phytoplankton cells. In the model, metabolism and cellular C :N ratio are influenced by the accumulation of carbon polymers such as carbohydrate and lipid, which is greatest when cells are nutrient starved, or exposed to high light. Allometric relations and empirical data sets are used to constrain the range of possible C : N, and indicate that larger cells can accumulate significantly more carbon storage compounds than smaller cells. When forced with extended periods of darkness combined with brief exposure to saturating irradiance, the model predicts organisms large enough to accumulate significant carbon reserves may on average synthesize protein and other functional apparatus up to five times faster than smaller organisms. The advantage of storage in terms of average daily protein synthesis rate is greatest when modeled organisms were previously nutrient starved, and carbon storage reservoirs saturated. Small organisms may therefore be at a disadvantage in terms of average daily growth rate in environments that involve prolonged periods of darkness and intermittent nutrient limitation. We suggest this mechanism is a significant constraint on phytoplankton C :N variability and cell size distribution in different oceanic regimes.