Complex order biped rhythms

Animal locomotion is a complex process, involving the central pattern generators (neural networks, located in the spinal cord, that produce rhythmic patterns), the brainstem command systems, the steering and posture control systems and the top layer structures that decide which motor primitive is activated at a given time. Pinto and Golubitsky studied an integer CPG model for legs rhythms in bipeds. It is a four-coupled identical oscillators' network with dihedral symmetry. This paper considers a new complex order central pattern generator (CPG) model for locomotion in bipeds. A complex derivative Dα±jβ, with α, β ∈ ℜ+, j = √-1, is a generalization of the concept of an integer derivative, where α = 1, β = 0. Parameter regions where periodic solutions, identified with legs' rhythms in bipeds, occur, are analyzed. Also observed is the variation of the amplitude and period of periodic solutions with the complex order derivative.

Performance Issues in Biped Walking Robots

This paper presents the dynamic analysis of robotic biped systems. The main goal is to gain insight into the phenomena of walking and to evaluate its performance. In this study, we propose three methods to quantitatively measure the dynamic efficiency of walking: energy analysis, perturbation analysis and lowpass frequency analysis. In order to accomplish this goal, the prescribed motion of the biped is completely characterised in terms of a set of locomotion variables, namely: step lenght, hip height, hip ripple, hip offset, foot clearance and link lenghts. based on these variables and their influence, the performance measures aer discussed and the results compared with those observed in nature.

Design of biped robot walking based on non-linear periodical oscillations

Magdeburg, Univ., Fak. für Elektrotechnik und Informationstechnik, Diss., 2012

Design of biped robot walking with double-support phase

Otto-von-Guericke-Universität Magdeburg, Fakultät für Maschinenbau, Univ., Dissertation, 2015

Kinematic analysis and modelling of biped locomotion systems

This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.

Virtual Model Control of a Biped Walking Robot

The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces, which are applied through joint torques, thereby creating the illusion that the components are connected to the robot. Due to the intuitive nature of this technique, designing a virtual model controller requires the same skills as designing the mechanism itself. A high level control system can be cascaded with the low level virtual model controller to modulate the parameters of the virtual mechanisms. Discrete commands from the high level controller would then result in fluid motion. An extension of Gardner's Partitioned Actuator Set Control method is developed. This method allows for the specification of constraints on the generalized forces which each serial path of a parallel mechanism can apply. Virtual model control has been applied to a bipedal walking robot. A simple algorithm utilizing a simple set of virtual components has successfully compelled the robot to walk eight consecutive steps.

Stability and smoothness improvements for an underactuated biped with a tail

In this work we present an important improvement in our model of biped mechanism that allows the elevation in a stable form of the system's feet during the execution of trajectories. This improvement allows for simpler trajectory planning and also facilitates the reduction of losses in the collision between the feet and the ground. On the other hand, we add to the design phase the study of the displacement of the Zero Moment Point, as well as the variation of the normal component of the ground reaction force during the motion of the system. Consideration of the above mentioned magnitudes in the design phase allows us to design the necessary support area of the system. These magnitudes will be used as a smoothness criterion of the ground contact to facilitate the selection of robot parameters and trajectories.

O comportamento de crianças durante atendimento odontológico

This research intended to investigate the use of diazepam in conjunction with behavioral strategies to manage uncooperative behavior of child dental patients. The 6 participants received dental treatment during 9 sessions. Using a double-blind design, children received placebo or diazepam and at the same time were submitted to behavior management produces (distraction, explanation, reinforcement and set rule and limits). All sessions were recorded in video-tapes biped in 15 seconds intervals, in which observers recorded child's (crying, body and/or head movements, escape and avoidance) and dentist's behavior. The results indicated that diazepam, considering the used dose, was only effective with one subject. The other participants didn't permit the treatment and showed an increase in their resistance. The behavioral preparation strategies for dental treatment should have been more precisely planned in order to help the child to face the real dental treatment conditions mainly in the first sessions avoiding to reinforce inappropriate behaviors.

Gait Pattern Adaptation for an Active Lower-Limb Orthosis Based on Neural Networks

This work deals with neural network (NN)-based gait pattern adaptation algorithms for an active lower-limb orthosis. Stable trajectories with different walking speeds are generated during an optimization process considering the zero-moment point (ZMP) criterion and the inverse dynamic of the orthosis-patient model. Additionally, a set of NNs is used to decrease the time-consuming analytical computation of the model and ZMP. The first NN approximates the inverse dynamics including the ZMP computation, while the second NN works in the optimization procedure, giving an adapted desired trajectory according to orthosis-patient interaction. This trajectory adaptation is added directly to the trajectory generator, also reproduced by a set of NNs. With this strategy, it is possible to adapt the trajectory during the walking cycle in an on-line procedure, instead of changing the trajectory parameter after each step. The dynamic model of the actual exoskeleton, with interaction forces included, is used to generate simulation results. Also, an experimental test is performed with an active ankle-foot orthosis, where the dynamic variables of this joint are replaced in the simulator by actual values provided by the device. It is shown that the final adapted trajectory follows the patient intention of increasing the walking speed, so changing the gait pattern. (C) Koninklijke Brill NV, Leiden, 2011

Ansiedade materna manifestada durante o tratamento odontológico de seus filhos

A ansiedade manifestada pela criança durante o atendimento odontológico constitui um elemento potencialmente prejudicial à realização do tratamento bucal. O objetivo deste trabalho foi descrever e analisar os comportamentos de dez mães durante sessões seqüenciais de atendimento odontológico de seus filhos. Todas as sessões foram filmadas em videoteipe com marcas sonoras a cada 15 segundos, indicando os momentos em que foram efetuados os registros dos comportamentos. Um mapeamento geral do repertório de comportamentos permitiu apontar padrões comuns a todas as participantes e padrões específicos, indicadores de maior ansiedade de algumas participantes. Proporcionalmente, o procedimento de anestesia injetável evocou maior freqüência de comportamentos indicadores de respostas de ansiedade das mães. O cirurgião-dentista, atento aos comportamentos de pais e acompanhantes de crianças, pode adotar estratégias que reduzam a ansiedade dos pais, aumentando a freqüência de comportamentos colaborativos da criança com o tratamento. _______________________________________________________________________________ ABSTRACT

Dinossáurios Eocretácicos de Lagosteiros

According to an ancient folkloric legend, Our Lady, stepping down from the sea, would have rided on a mule to the platform above the cliffs named Pedra da Mua at Lagosteiros'bay, near Espichel cape. Mule's footprints, regarded by fishermen as evidence, would be clearly recognizable on exposed surfaces of the rocks. Indeed there are footprints but from Dinosaurs of latest Jurassic, Portlandian age, this spectacular locality being specially rich in giant Sauropod tracks (that have seldom been found elsewhere in Europe). As we proceeded to its study, another locality with Dinosaur footprints, Lower Cretaceous (Hauterivian) in age, was found on the northern cliffs at Lagosteiros. It is probably the richest one in european Lower Cretaceous and the only of this age known in Portugal, so we decided to give priority to its study. Dinosaur tracks have been printed on calciclastic sands in a lagoonal environment protected by fringing coral reefs. There have been emersion episodes; beaches were frequented by Dinosaurs. Later on, the marine barremian ingression restablished a gulf and such animals could not come here any more. Under a paleogeographical viewpoint, the evidence of a marine regression near the end of Hauterivian is to be remarked. Five types of tracks and footprints have been recognized: - Neosauropus lagosteirensis, new morphogenus and species, tracks from a giant Sauropod, perhaps from Camarasaurus; with its proportions the total length of the author would be about 15,5 m. These are the only Sauropod tracks known till now in Europe's Lower Cretaceous. - tracks from a not so big quadruped, maybe a Sauropod (young individual?); however it is not impossible that they were produced by Stegosaurians or Ankylosaurians. -Megalosauropus (?Eutynichnium) gomesi new morphospecies, four Theropod tracks most probably produced by megalosaurs. - Iguanodon sp., represented by some footprints and specially by a set corresponding to the feet and tail from an individual standing in a rest position. - problematical, quite small-sized biped (maybe an Ornithopod related to Camptosaurus). Evidence points to a richer fauna than that known in barremian "Dinosaur sandstones" from a nearby locality, Boca do Chapim. Lagosteiros' association clearly indicates the predominance of herbivores, which required large amounts of vegetable food in the neighbourhood. This is an indirect evidence of the vegetal wealth, also suggested by associations of plant macrofossils, polen and spores found in early Cretaceous sediments at the same region. The relatively high proportion of Theropoda is related to the wealth of the whole fauna, which comprised a lot of the prey needed by such powerful flesh-eaters. The evidence, as a whole, points out to a warm and moist climate. All the tracks whose direction could be measured are directed to the southern quadrants, this being confirmed by the approximative direction of other footprints. Massive displacements (migration?) could take place during a brief emersion episode. This may result from the ingression of barremian seas, flooding the region and restablishing here a small gulf. Even if the arrival of the waters damaged certain footprints it has not destroyed them completely, thus allowing the preservation of such evidence from a remote past.

Fractional central pattern generators for bipedal locomotion

Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.

A historical perspective of legged robots

The objective of this paper is to present the evolution and the state-of-the-art in the area of legged locomotion systems. In a first phase different possibilities for implementing mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase a historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones of technological and scientific progress. After this historical timeline, some of the present-day systems are examined and their performance is analyzed. In a third phase the major areas of research and development that are presently being followed in the construction of legged robots are pointed out. Finally, some still unsolved problems that remain defying robotics research, are also addressed.

Mechanical analysis of infant carrying in hominoids

In all higher nonhuman primates, species survival depends upon safe carrying of infants clinging to body hair of adults. In this work, measurements of mechanical properties of ape hair (gibbon, orangutan, and gorilla) are presented, focusing on constraints for safe infant carrying. Results of hair tensile properties are shown to be species-dependent. Analysis of the mechanics of the mounting position, typical of heavier infant carrying among African apes, shows that both clinging and friction are necessary to carry heavy infants. As a consequence, a required relationship between infant weight, hair-hair friction coefficient, and body angle exists. The hair-hair friction coefficient is measured using natural ape skin samples, and dependence on load and humidity is analyzed. Numerical evaluation of the equilibrium constraint is in agreement with the knuckle-walking quadruped position of African apes. Bipedality is clearly incompatible with the usual clinging and mounting pattern of infant carrying, requiring a revision of models of hominization in relation to the divergence between apes and hominins. These results suggest that safe carrying of heavy infants justify the emergence of biped form of locomotion. Ways to test this possibility are foreseen here.

Processo de adaptação do macaco- aranha-de-testa-branca (Ateles marginatus) ao cativeiro

Pós-graduação em Ciência Animal - FMVA