scholarly journals Decentralized control mechanism for body–limb coordination in quadruped running

2019 ◽  
Vol 28 (3) ◽  
pp. 151-164 ◽  
Author(s):  
Akira Fukuhara ◽  
Yukihiro Koizumi ◽  
Shura Suzuki ◽  
Takeshi Kano ◽  
Akio Ishiguro
Keyword(s):  
Decentralized Control ◽  
Sensory Feedback ◽  
Feedback Mechanism ◽  
The Body ◽  
Coordination Mechanism ◽  
Coordination Pattern ◽  
Body Parts ◽  
Efficient Manner ◽  
Limb Coordination ◽  
Dimensional Simulation

As a mechanism for survival, quadrupeds have obtained skills involving coordination between limbs and the body (i.e. body–limb coordination), providing fast and adaptive locomotion compared with motion using only limbs. Several bio-inspired robotics studies have resulted in the development of legged robots that utilize a flexible spine, similar to cheetahs. However, the control principle of body–limb coordination has not been established to date. From the perspective of a decentralized control scheme, a minimal body–limb coordination mechanism is proposed in this study, in which body parts aid each other via a sensory feedback mechanism. The two-dimensional simulation and hardware experiments reveal that bilateral sensory feedback between limbs and body is essential for the robot to adaptively generate a body–limb coordination pattern and achieve faster locomotion speed than that by only limbs in efficient manner.

scholarly journals Decoding the essential interplay between central and peripheral control in adaptive locomotion of amphibious centipedes

2019 ◽  
Vol 9 (1) ◽  
Author(s):  
Kotaro Yasui ◽  
Takeshi Kano ◽  
Emily M. Standen ◽  
Hitoshi Aonuma ◽  
Auke J. Ijspeert ◽  
...  
Keyword(s):  
Sensory Feedback ◽  
Feedback Mechanism ◽  
Pattern Generation ◽  
The Body ◽  
Body Motion ◽  
Adaptive Behaviour ◽  
Gradual Transition ◽  
Substrate Properties ◽  
Locomotor Patterns ◽  
Descending Control

AbstractAmphibious animals adapt their body coordination to compensate for changing substrate properties as they transition between terrestrial and aquatic environments. Using behavioural experiments and mathematical modelling of the amphibious centipede Scolopendra subspinipes mutilans, we reveal an interplay between descending command (brain), local pattern generation, and sensory feedback that controls the leg and body motion during swimming and walking. The elongated and segmented centipede body exhibits a gradual transition in the locomotor patterns as the animal crosses between land and water. Changing environmental conditions elicit a mechano-sensory feedback mechanism, inducing a gait change at the local segment level. The body segments operating downstream of a severed nerve cord (no descending control) can generate walking with mechano-sensory inputs alone while swimming behaviour is not recovered. Integrating the descending control for swimming initiation with the sensory feedback control for walking in a mathematical model successfully generates the adaptive behaviour of centipede locomotion, capturing the possible mechanism for flexible motor control in animals.

scholarly journals Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running

2021 ◽  
Vol 288 (1962) ◽  
Author(s):  
Akira Fukuhara ◽  
Yukihiro Koizumi ◽  
Tomoyuki Baba ◽  
Shura Suzuki ◽  
Takeshi Kano ◽  
...  
Keyword(s):  
Stance Phase ◽  
Control Mechanism ◽  
Interlimb Coordination ◽  
The Body ◽  
Coordination Mechanism ◽  
Body Parts ◽  
Gait Patterns ◽  
Mechanical Loads ◽  
Proposed Model ◽  
Simulation Results

Quadrupeds exhibit versatile and adaptive running by exploiting the flying phase during the stride cycle. Various interlimb coordination mechanisms focusing on mechanical loads during the stance phase have been proposed to understand the underlying control mechanism, and various gait patterns have been reproduced. However, the essential control mechanism required to achieve both steady running patterns and non-steady behaviours, such as jumping and landing, remains unclear. Therefore, we focus on the vertical motions of the body parts and propose a new decentralized interlimb coordination mechanism. The simulation results demonstrate that the robot can generate efficient and various running patterns in response to the morphology of the body. Furthermore, the proposed model allows the robot to smoothly change its behaviour between steady running and non-steady landing depending on the situation. These results suggest that the steady and non-steady behaviours in quadruped adaptive running may share a common simple control mechanism based on the mechanical loads and vertical velocities of the body parts.

scholarly journals Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

2021 ◽  
Vol 14 ◽  
Author(s):  
Shura Suzuki ◽  
Takeshi Kano ◽  
Auke J. Ijspeert ◽  
Akio Ishiguro
Keyword(s):  
Simulation Study ◽  
Sensory Feedback ◽  
Morphological Changes ◽  
Quadruped Robot ◽  
Body Parts ◽  
Walking Gait ◽  
Quadruped Robots ◽  
Lateral Body ◽  
Limb Coordination ◽  
Control Principle

Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots.

scholarly journals Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body–Limb Coordination Mechanisms

2021 ◽  
Vol 15 ◽  
Author(s):  
Shura Suzuki ◽  
Takeshi Kano ◽  
Auke J. Ijspeert ◽  
Akio Ishiguro
Keyword(s):  
The Body ◽  
Coordination Mechanisms ◽  
Body Parts ◽  
Gait Patterns ◽  
Quadruped Locomotion ◽  
Self Organized ◽  
Lateral Body ◽  
Proposed Model ◽  
Limb Coordination ◽  
Gait Transitions

Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body–limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of the salamander and aimed to understand the body–limb coordination mechanisms through mathematical modeling and simulations. The salamander is an amphibian that moves on the ground by coordinating the four legs with lateral body bending. It uses standing and traveling waves of lateral bending that depend on the velocity and stepping gait. However, the body–limb coordination mechanisms responsible for this flexible gait transition remain elusive. This paper presents a central-pattern-generator-based model to reproduce spontaneous gait transitions, including changes in bending patterns. The proposed model implements four feedback rules (feedback from limb-to-limb, limb-to-body, body-to-limb, and body-to-body) without assuming any inter-oscillator coupling. The interplay of the feedback rules establishes a self-organized body–limb coordination that enables the reproduction of the speed-dependent gait transitions of salamanders, as well as various gait patterns observed in sprawling quadruped animals. This suggests that sensory feedback plays an essential role in flexible body–limb coordination during sprawling quadruped locomotion.

Formulation, Design and Development of Niosome Based Topical Gel for Skin Cancer

2017 ◽  
Vol 2 (3) ◽  
Keyword(s):  
Skin Cancer ◽  
Drug Release ◽  
Hemorrhagic Cystitis ◽  
The Body ◽  
Cancer Drug ◽  
Inversion Method ◽  
Body Parts ◽  
Basal Cells ◽  
Formulation Design ◽  
Topical Gel

Melanoma is the most dangerous type of skin cancer in which mostly damaged unpaired DNA starts mutating abnormally and staged an unprecedented proliferation of epithelial skin to form a malignant tumor. In epidemics of skin, pigment-forming melanocytes of basal cells start depleting and form uneven black or brown moles. Melanoma can further spread all over the body parts and could become hard to detect. In USA Melanoma kills an estimated 10,130 people annually. This challenge can be succumbed by using the certain anti-cancer drug. In this study design, cyclophosphamide were used as a model drug. But it has own limitation like mild to moderate use may cause severe cytopenia, hemorrhagic cystitis, neutropenia, alopecia and GI disturbance. This is a promising challenge, which is caused due to the increasing in plasma drug concentration above therapeutic level and due to no rate limiting steps involved in formulation design. In this study, we tried to modify drug release up to threefold and extended the release of drug by preparing and designing niosome based topical gel. In the presence of Dichloromethane, Span60 and cholesterol, the initial niosomes were prepared using vacuum evaporator. The optimum percentage drug entrapment efficacy, zeta potential, particle size was found to be 72.16%, 6.19mV, 1.67µm.Prepared niosomes were further characterized using TEM analyzer. The optimum batch of niosomes was selected and incorporated into topical gel preparation. Cold inversion method and Poloxamer -188 and HPMC as core polymers, were used to prepare cyclophosphamide niosome based topical gel. The formula was designed using Design expert 7.0.0 software and Box-Behnken Design model was selected. Almost all the evaluation parameters were studied and reported. The MTT shows good % cell growth inhibition by prepared niosome based gel against of A375 cell line. The drug release was extended up to 20th hours. Further as per ICH Q1A (R2), guideline 6 month stability studies were performed. The results were satisfactory and indicating a good formulation approach design was achieved for Melanoma treatment.

Re-imagining Reproduction: Unsettling Metaphors in the History of Imperial Science and Commercial Surrogacy in India

Somatechnics ◽  
2015 ◽  
Vol 5 (1) ◽  
pp. 88-103 ◽  
Author(s):  
Kalindi Vora
Keyword(s):  
Assisted Reproductive Technologies ◽  
Reproductive Technologies ◽  
The Body ◽  
Body Parts ◽  
Colonial History ◽  
Women's Bodies ◽  
Commercial Surrogacy ◽  
Art Practices ◽  
History Of ◽  
Travel Industry

This paper provides an analysis of how cultural notions of the body and kinship conveyed through Western medical technologies and practices in Assisted Reproductive Technologies (ART) bring together India's colonial history and its economic development through outsourcing, globalisation and instrumentalised notions of the reproductive body in transnational commercial surrogacy. Essential to this industry is the concept of the disembodied uterus that has arisen in scientific and medical practice, which allows for the logic of the ‘gestational carrier’ as a functional role in ART practices, and therefore in transnational medical fertility travel to India. Highlighting the instrumentalisation of the uterus as an alienable component of a body and subject – and therefore of women's bodies in surrogacy – helps elucidate some of the material and political stakes that accompany the growth of the fertility travel industry in India, where histories of privilege and difference converge. I conclude that the metaphors we use to structure our understanding of bodies and body parts impact how we imagine appropriate roles for people and their bodies in ways that are still deeply entangled with imperial histories of science, and these histories shape the contemporary disparities found in access to medical and legal protections among participants in transnational surrogacy arrangements.

Deadlift Recognition and Application based on Multiple Modalities using Recurrent Neural Network

2020 ◽  
Vol 2020 (17) ◽  
pp. 2-1-2-6
Author(s):  
Shih-Wei Sun ◽  
Ting-Chen Mou ◽  
Pao-Chi Chang
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Network Structure ◽  
Inertial Sensors ◽  
Body Movement ◽  
The Body ◽  
Body Parts ◽  
Multimodal Sensing ◽  
Multiple Devices ◽  
Neural Network Structure

To improve the workout efficiency and to provide the body movement suggestions to users in a “smart gym” environment, we propose to use a depth camera for capturing a user’s body parts and mount multiple inertial sensors on the body parts of a user to generate deadlift behavior models generated by a recurrent neural network structure. The contribution of this paper is trifold: 1) The multimodal sensing signals obtained from multiple devices are fused for generating the deadlift behavior classifiers, 2) the recurrent neural network structure can analyze the information from the synchronized skeletal and inertial sensing data, and 3) a Vaplab dataset is generated for evaluating the deadlift behaviors recognizing capability in the proposed method.

Our Bodies, Whose Property?

2013 ◽  
Author(s):  
Anne Phillips
Keyword(s):  
Labor Markets ◽  
Personal Autonomy ◽  
The Body ◽  
Body Parts ◽  
Complex Issue ◽  
Human Organs ◽  
Property Owners ◽  
The Common ◽  
The Difference ◽  
The Right

No one wants to be treated like an object, regarded as an item of property, or put up for sale. Yet many people frame personal autonomy in terms of self-ownership, representing themselves as property owners with the right to do as they wish with their bodies. Others do not use the language of property, but are similarly insistent on the rights of free individuals to decide for themselves whether to engage in commercial transactions for sex, reproduction, or organ sales. Drawing on analyses of rape, surrogacy, and markets in human organs, this book challenges notions of freedom based on ownership of our bodies and argues against the normalization of markets in bodily services and parts. The book explores the risks associated with metaphors of property and the reasons why the commodification of the body remains problematic. The book asks what is wrong with thinking of oneself as the owner of one's body? What is wrong with making our bodies available for rent or sale? What, if anything, is the difference between markets in sex, reproduction, or human body parts, and the other markets we commonly applaud? The book contends that body markets occupy the outer edges of a continuum that is, in some way, a feature of all labor markets. But it also emphasizes that we all have bodies, and considers the implications of this otherwise banal fact for equality. Bodies remind us of shared vulnerability, alerting us to the common experience of living as embodied beings in the same world. Examining the complex issue of body exceptionalism, the book demonstrates that treating the body as property makes human equality harder to comprehend.

Study on Pramana Shareera in relation to Prakriti

2016 ◽  
Vol 2 (3) ◽  
Author(s):  
Rajendra Pai N. ◽  
U. Govindaraju
Keyword(s):  
Observational Study ◽  
Upper Limb ◽  
Lower Limb ◽  
Characteristic Property ◽  
The Body ◽  
Artificial Limbs ◽  
Body Parts ◽  
Unit Of Measurement ◽  
The Individual ◽  
Different Parts

Ayurveda in its principle has given importance to individualistic approach rather than generalize. Application of this examination can be clearly seem like even though two patients suffering from same disease, the treatment modality may change depending upon the results of Dashvidha Pariksha. Prakruti and Pramana both used in Dashvidha Pariksha. Both determine the health of the individual and Bala (strength) of Rogi (Patient). Ayurveda followed Swa-angula Pramana as the unit of measurement for measuring the different parts of the body which is prime step assessing patient before treatment. Sushruta and Charaka had stated different Angula Pramana of each Pratyanga (body parts). Specificity is the characteristic property of Swa-angula Pramana. This can be applicable in present era for example artificial limbs. A scientific research includes collection, compilation, analysis and lastly scrutiny of entire findings to arrive at a conclusion. Study of Pramana and its relation with Prakruti was conducted in 1000 volunteers using Prakruti Parkishan proforma with an objective of evaluation of Anguli Pramana in various Prakriti. It was observed co-relating Pramana in each Prakruti and Granthokta Pramana that there is no vast difference in measurement of head, upper limb and lower limb. The observational study shows closer relation of features with classical texts.

Shakespeare’s Dancing Bodies

2019 ◽  
pp. 172-196
Author(s):  
Brandon Shaw
Keyword(s):  
Early Modern ◽  
Modern Dance ◽  
The Body ◽  
Literary Texts ◽  
Somatic Psychology ◽  
Body Parts ◽  
Social Significance ◽  
Romeo And Juliet ◽  
Modern Times ◽  
Early Modern Times

Romeo’s well-known excuse that he cannot dance because he has soles of lead is demonstrative of the autonomous volitional quality Shakespeare ascribes to body parts, his utilization of humoral somatic psychology, and the horizontally divided body according to early modern dance practice and theory. This chapter considers the autonomy of and disagreement between the body parts and the unruliness of the humors within Shakespeare’s dramas, particularly Romeo and Juliet. An understanding of the body as a house of conflicting parts can be applied to the feet of the dancing body in early modern times, as is evinced not only by literary texts, but dance manuals as well. The visuality dominating the dance floor provided opportunity for social advancement as well as ridicule, as contemporary sources document. Dance practice is compared with early modern swordplay in their shared approaches to the training and social significance of bodily proportion and rhythm.

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