(Re)organising Movement System Degrees of Freedom to Achieve Intended Task Goals

As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.

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Task goals and change in dynamical degrees of freedom with motor learning.

Journal of Experimental Psychology Human Perception & Performance ◽

10.1037/0096-1523.29.2.379 ◽

2003 ◽

Vol 29 (2) ◽

pp. 379-387 ◽

Cited By ~ 48

Author(s):

Karl M. Newell ◽

Michael P. Broderick ◽

Katherine M. Deutsch ◽

Andrew B. Slifkin

Keyword(s):

Motor Learning ◽

Degrees Of Freedom ◽

Task Goals ◽

Dynamical Degrees

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The Control Strategy for Degrees of Freedom in Remote Prehension with a Tool

Proceedings of the Human Factors and Ergonomics Society Annual Meeting ◽

10.1177/154193120705101918 ◽

2007 ◽

Vol 51 (19) ◽

pp. 1358-1362 ◽

Cited By ~ 2

Author(s):

Bin Zheng ◽

Christine L. MacKenzie

Keyword(s):

Upper Limb ◽

Control Strategy ◽

Elbow Joint ◽

Degrees Of Freedom ◽

Upper Limbs ◽

Joint Movement ◽

Phase Pattern ◽

Point Control ◽

Movement System ◽

End Effectors

Constructing movement couplings is essential for decreasing degrees-of-freedom for a compound movement that requires coordination over a multiple segments. Angular movements of joints in the upper limbs are examined, the pattern of movement couplings between prehension performed with the hands (natural prehension) and with a simple grasper held in the hands (remote prehension). In remote prehension, the shoulder and elbow joint are tightly associated with a clear in-phase joint to joint movement; the elbow and wrist display both anti- and in-phase movements due to the change of initial configuration of the upper limb when holding a tool. In contrast, the shoulder-elbow bond is mixed in natural prehension, but the elbow and wrist bond is predominant with an anti-phase pattern. With diversity for joint couplings, the movement consistency of the hinge is preserved with relatively smaller path variability. Results support the end-point control notion, i.e. movement is controlled by extrinsic coordinates close to the end-effectors of the movement system.

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The cephalopod specialties: complex nervous system, learning, and cognition

Canadian Journal of Zoology ◽

10.1139/cjz-2013-0009 ◽

2013 ◽

Vol 91 (6) ◽

pp. 431-449 ◽

Cited By ~ 31

Author(s):

Jennifer A. Mather ◽

Michael J. Kuba

Keyword(s):

Nervous System ◽

Alternative Model ◽

Degrees Of Freedom ◽

Display System ◽

Bony Fishes ◽

High Intelligence ◽

Movement System ◽

Learning And Cognition ◽

Higher Order Functions ◽

The Brain

While clearly of molluscan ancestry, the coleoid cephalopods are emergent within the phylum for complexity of brain and behaviour. The brain does not just have centralization of the molluscan ganglia but also contains lobes with “higher order” functions such as storage of learned information, and centres have been compared with the vertebrate cerebellum and frontal lobe. The flexible muscular hydrostat movement system theoretically has unlimited degrees of freedom, and octopuses are models for “soft movement” robots. The decentralized nervous system, particularly in the arms of octopuses, results in decision making at many levels. Free of the molluscan shell and with evolutionary pressure from the bony fishes, coleoids have evolved a specialty in cognition and they may have a simple form of consciousness. Cephalopods also have a skin display system of unmatched complexity and excellence of camouflage, also used for communication with predators and conspecifics. A cephalopod is first and foremost a learning animal, using the display system for deception, having spatial memory, personalities, and motor play. They represent an alternative model to the vertebrates for the evolution of complex brains and high intelligence, which has as yet been only partly explored.

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The motion of a lunar orbiter

Symposium - International Astronomical Union ◽

10.1017/s0074180900105686 ◽

1966 ◽

Vol 25 ◽

pp. 373

Author(s):

Y. Kozai

Keyword(s):

Degrees Of Freedom ◽

Dimensional Space ◽

Artificial Satellite ◽

Equations Of Motion ◽

Triaxial Ellipsoid ◽

The Moon ◽

Secular Motion ◽

The Earth ◽

Close Satellite ◽

The Mean

The motion of an artificial satellite around the Moon is much more complicated than that around the Earth, since the shape of the Moon is a triaxial ellipsoid and the effect of the Earth on the motion is very important even for a very close satellite.The differential equations of motion of the satellite are written in canonical form of three degrees of freedom with time depending Hamiltonian. By eliminating short-periodic terms depending on the mean longitude of the satellite and by assuming that the Earth is moving on the lunar equator, however, the equations are reduced to those of two degrees of freedom with an energy integral.Since the mean motion of the Earth around the Moon is more rapid than the secular motion of the argument of pericentre of the satellite by a factor of one order, the terms depending on the longitude of the Earth can be eliminated, and the degree of freedom is reduced to one.Then the motion can be discussed by drawing equi-energy curves in two-dimensional space. According to these figures satellites with high inclination have large possibilities of falling down to the lunar surface even if the initial eccentricities are very small.The principal properties of the motion are not changed even if plausible values ofJ3andJ4of the Moon are included.This paper has been published in Publ. astr. Soc.Japan15, 301, 1963.

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Representing utility and deploying the body

Behavioral and Brain Sciences ◽

10.1017/s0140525x19001602 ◽

2020 ◽

Vol 43 ◽

Author(s):

David Spurrett

Keyword(s):

Functional Activity ◽

Degrees Of Freedom ◽

The Body ◽

Target Article ◽

Processing Demands ◽

The Many

Abstract Comprehensive accounts of resource-rational attempts to maximise utility shouldn't ignore the demands of constructing utility representations. This can be onerous when, as in humans, there are many rewarding modalities. Another thing best not ignored is the processing demands of making functional activity out of the many degrees of freedom of a body. The target article is almost silent on both.

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Das Experten-Novizen-Paradigma und die Vertrauenskrise in der Psychologie

Zeitschrift für Sportpsychologie ◽

10.1026/1612-5010/a000174 ◽

2016 ◽

Vol 23 (4) ◽

pp. 131-140 ◽

Cited By ~ 3

Author(s):

Philip Furley ◽

Karsten Schul ◽

Daniel Memmert

Keyword(s):

Degrees Of Freedom

Zusammenfassung. Das Ziel des vorliegenden Beitrages ist es anhand eines vielverwendeten Paradigmas in der Sportwissenschaft – dem Experten-Novizen-Vergleich – zu prüfen, ob die momentane Vertrauenskrise in der Psychologie ebenfalls die Sportpsychologie betreffen könnte. Anhand einer exemplarischen Studie zeigen wir, dass es innerhalb dieses Paradigmas zu kontroversen Befunden kommt, welche durch die vermuteten Ursachen der Vertrauenskrise (Researcher Degrees of Freedom, kleine Stichprobengrößen) erklärt sein könnten. Zusätzlich argumentieren wir, dass weitere Faktoren (Konfundierung, Stichprobengrößen, Rosenthal Effekt, Expertise-Definition) innerhalb dieses Paradigmas die Reproduzierbarkeit von Erkenntnissen in Frage stellen. Wir diskutieren mögliche Maßnahmen, wie die dargestellten Probleme des Experten-Novizen-Paradigmas in zukünftigen Forschungsarbeiten gelöst werden können.

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