Locomotion No 1 - Factbites

Locomotion No 1 - Factbites
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Topic: Locomotion No 1

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	Animal - Wikipedia, the free encyclopedia
		Their closest living relatives are the choanoflagellates, collared flagellates that have the same structure as certain sponge cells do.
		These include muscles, which are able to contract and control locomotion, and a nervous system, which sends and processes signals.
		The latter are dominated by the vertebrates, animals with backbones.
	en.wikipedia.org /wiki/Animal

	Rectilinear locomotion - Wikipedia, the free encyclopedia
		This method of locomotion is inefficient and slow, but is also almost noiseless and very hard to detect, making it the mode of choice for many species when stalking prey.
		Rectilinear locomotion relies upon two opposing muscles, the costcutaneous inferior and superior, which are present on every rib and connect the rib to the skin.
		Rectilinear locomotion is a mode of locomotion most often associated with snakes, particularly heavy-bodied species like terrestrial pythons and boas, athough most snakes are capable of it.
	www.wikipedia.org /wiki/Rectilinear_locomotion

	Plantigrade locomotion - Wikipedia, the free encyclopedia
		Plantigrade locomotion is considered less specialized or less highly evolved than digitigrade and unguligrade locomotion.
		In mammals, plantigrade locomotion means walking with the podials and metatarsals flat on the ground.
		This page was last modified 15:14, 18 May 2005.
	www.wikipedia.org /wiki/Plantigrade

	Bipedal
		Bipedal locomotion is walking, running, and standing on two legs (as opposed to four).
		A less well-known aspect of bipedal neuroanatomy can be demonstrated in human infants who have not yet developed toward the ability to stand up.
		Humans are generally thought to have evolved bipedalism either through living on plains (the Savanna Theory), or wading like their semi-bipedal wading cousins the bonobo chimps and proboscis monkeys, the Aquatic Ape Theory.
	www.comicscomics.com /search.php?title=Bipedal (840 words)

	Human - Wikipedia, the free encyclopedia
		The origins of bipedal locomotion and of its role in the evolution of the human brain are topics of ongoing research.
		Bipedal locomotion appears to have evolved before the development of a large brain.
		Because humans are bipedal, the pelvic region and spinal column tend to get worn, creating locomotion difficulties in old age.
	en.wikipedia.org /wiki/Human (7430 words)

	Robo:Muscles - Wikibooks
		The fundamental failing of this robot was the difficulty inherent in the control of the pneumatic cylinders; although capable of maintaining stance robustly and cycling its legs in a cockroach manner, to date this robot has not demonstrated smooth locomotion [12].
		Given the ultimate goal of autonomy, this ability to reconfigure locomotion strategies will be crucial to the robustness of autonomous robots [2].
		This failure of Robot III is attributed to the inability of both the pneumatic cylinders and posture controller to deal with the sudden changes in load associated with locomotion.
	en.wikibooks.org /wiki/Robo:Muscles (3930 words)

	Sample Chapter for Alexander, R.M.: Principles of Animal Locomotion.
		If we were to try to express the relationship between the locomotion of animals and their fitness in mathematical terms, we would have to conclude that fitness is a function of speed, acceleration, maneuverability, endurance, energy economy, and a great many other properties.
		The fitness of an animal's complement of genes (its genotype) is the probability of the same group of genes being transmitted to subsequent generations.
		Evolution proceeds by relatively small steps, and there does not seem to be any conceivable evolutionary route from a squid to a fishlike animal that would not involve passing through a stage less fit than either.
	pup.princeton.edu /chapters/s7435.html (3930 words)

	Animal locomotion - Wikipedia, the free encyclopedia
		The distinction between the second and third topics is that in the second, the animal does not need to expend energy to defeat gravity; in or on the water, buoyancy counteracts the animal's weight.
		animal locomotion on the surface layer (small animals relying on surface tension such as the water strider)
		In biology and physics, animal locomotion is the study of how
	en.wikipedia.org /wiki/Animal_locomotion (3930 words)

	Rainforest Canopy - Animal Locomotion
		Brachiation is the form of arboreal locomotion characteristic of certain primates - especially the gibbon - where movement is accomplished by swinging by the arms from one branch to another.
		Because significant gaps exist between the branches of the canopy, animals of this zone must be able to negotiate these discontinuities by some means.
		Perhaps the strangest gliding animal is the Paradise tree snake from southern Thailand, Malaysia, Borneo, Philippines, and Sulawesi.
	www.mongabay.com /0408.htm (3930 words)

	The Origin of Bipedalism
		The short lower limbs and broad pelvis of early bipedal Australopithecines are arboreal adaptations, not terrestrial, as are long forelimbs enabling greater access to food and facilitating arm-hanging.
		The behavioral model (Lovejoy 1981) attributes bipedality to the social, sexual and reproductive conduct of early hominids.
		Human sexual behavior and anatomy are hypothesized as implying a monogamous mating structure, a social form seen as prerequisite to male provisioning.
	www.jqjacobs.net /anthro/paleo/bipedalism.html (888 words)

	Bipedal locomotion
		While human bipedal locomotion is comparatively well understood biomechanically, neurologically and physiologically, relatively little is known about the relationships between diverse locomotor habits and patterns of structural variation in long bones, be it in hominoids, primates in general or, on a larger scope, in other habitual bipeds such as cursorial birds.
		The project provides an important basis upon which a number of long-term research goals in anthropology can be envisaged: First, to understand the evolution of human bipedal locomotion, a wide scope of data on evolutionary alternatives, such as locomotor variants in hominoid taxa and variants of bipedalism in flightless birds, is needed.
		Habitual bipedal locomotion is generally seen as a specifically human feature, but it is likely to have evolved various times during primate phylogeny.
	www.ifi.unizh.ch /staff/zolli/res_db/bipedal.html (276 words)

	Central pattern generators for bipedal locomotion
		Moreover, the four-cell model can produce two types of hop, two types of gallop, and three additional symmetry types of periodic solutions that have yet to be identified with the rhythms of known bipedal gaits.
		We use symmetry to study two central pattern generator (CPG) models for biped locomotion.
		We also compare patterns of oscillation of gaits of the eight-cell model with results on bipedal interlimb coordination in the literature, showing that the eight-cell model is a plausible network for modeling human interlimb coordination.
	www.math.uh.edu /~mg/reprints/abstracts/04PG.html (251 words)

	Lobster Robot Locomotion
		The robot legs are actuated by Nitinol muscle modules, upon heating by electrical current.
		The direction and orientation of the robot was almost constant during walking.
		The position, velocity and orientation of the robot during walkign are shown below.
	www.coe.neu.edu /~ksafak/locomotion.html (190 words)

	Robot locomotion - Wikipedia, the free encyclopedia
		Robot locomotion is the study of how to design robot appendages and control mechanisms to allow robots to move fluidly and efficiently.
		What might seem a simple matter like negotiating stairs in practice has proved terrifically difficult.
	www.wikipedia.org /wiki/Robot_locomotion (98 words)

	Snake - Wikipedia, the free encyclopedia
		Another common method of locomotion is rectilinear locomotion, in which the snake remains straight and propels itself via a caterpillar-like motion of its belly-muscles.
		Supposedly similar locomotion for both groups is also used as support.
		A secondary hypothesis is that snakes directly evolved from varinids similar to the earless monitor of Borneo.
	www.wikipedia.org /wiki/Snake (98 words)

	Snake locomotion
		In concertina locomotion, blocks of muscles are activated simultaneously, and unilaterally, in regions of bending and of static contact with the sides of a tunnel.
		In rectilinear locomotion, the belly scales are alternately lifted slightly from the ground and pulled forward, and then pulled downward and backward.
		The kind of locomotion a snake uses in any particular instance depends on several factors such as the kind of surface it is crawling on and its speed.
	www.ucs.louisiana.edu /~brm2286/locomotn.htm (98 words)

	DHA ... savannah and bipedalism.
		Compared to the energy used in primates for locomotion, bipedal walking is almost half as expensive bipedal movement in humans is more energetically efficient than quadrupedal movement in mammals and primates* Leonard, William R., and Marcia L. Robertson.
		Plantigrade bipedalism is about walking; our body shape (including leg length) is determined by the way we walk, irrespective of the advantage it gives us when wading or swimming.
		Would suggest those seeking the cause of = bipedalism and large brains, in our species, should seek an environment in = our evolution that was favourable to both traits, to date the only = environment that meets those criteria...
	www.science-one.com /new-5507102-4248.html (98 words)

	Normal and Abnormal Gait
		Large animals seem to have a maximum "whole animal" efficiency nearly three times greater than the maximum efficiency of their muscles, (31) and this seems to be due to elastic storage of energy-be that storage in muscle, tendon, or ligament.
		Some animals have such intense pain or weakness that the hindlimbs are unable to provide normal propulsive movement, causing the animal to sway and stagger as it walks.
		Temporal analysis of gait in the dog has yielded some norms for the average velocity of walking as well as time durations for the two phases of gait: the stance phase and the swing phase.
	www.ivis.org /special_books/ortho/chapter_91/91mast.asp (98 words)

	Introduction to Animal Locomotion
		"Animal Locomotion" is concerned with identity in a more essentialist manner--not with biography but with what transcends particular biographical facts, the essential ground on which the particular self is built.
		It was no accident that he called his original work "Animal Locomotion," though it depicted not just animals but also human beings, and the latter in both "normal" and "abnormal" states (with tremors, without legs, on crutches).
		(a) My metaphor for this experience of process is a technological one, built into the software which runs "Animal Locomotion." When you initially come to the site, the configuration of its pages will appear to you as they have been left by the previous viewer.
	www.room535.org /muybr/alocintr.htm (98 words)

	John Hawks Anthropology Weblog
		The most dramatic illustration of bipedalism is the pelvis, and the most dramatic specimen demonstrating pelvic morphology is the relatively complete skeleton from Hadar, Lucy, AL 288-1.
		One of the adaptations to bipedalism must, then, have been a behavioral change toward carrying dependent offspring until they were old enough to walk.
		Bipedalism has been suggested as an adaptation to both these factors, by placing the head high and upright, and decreasing the exposure of the trunk to direct light from overhead.
	www.johnhawks.net /weblog/topics/bipedalism?advanced_search=1 (2617 words)

	PEOPLES OF THE WORLD: PREHISTORY
		With bipedal locomotion the hands are also left free to carry goods such as food or tools.
		Bipedal locomotion is the first hominid trait that evolved.
		Efficient form of locomotion between patchy resources - slower
	anthroclass.com /lectures/lbanth313/class2.html (2001 words)

	biped
		The acquisition process of bipedal walking in humans was simulated using a neuro-musculo-skeletal model and genetic algorithms, based on the assumption that the shape of the body has been adapted for locomotion.
		We previously proposed a neuromusculoskeletal model for human locomotion, in which movements emersed as a stable limit cycle that was generated through the global entrainment among the neural system, composed of neural oscillators, the musculoskeletal system, and the environment.
		A principle of locomotor control in an unpredictably changing environment is presented on the basis of neurophysiology and biomechanics from the perspective of nonlinear dynamics theory.
	www.cs.umass.edu /~mtr/research/biped/bib.html (14466 words)

	RVL: Legged Robot Project
		Equipping a robot with perception-based control is not merely a matter of adding to the robot yet another module; the high-level control must be tightly intergrated with the low-level control needed for locomotion and stability.
		But what is missing in most of these robots is some perception-based high-level control that would permit a robot to operate with a measure of autonomy.
		The progress made so far in the design of legged robots has been mostly in the areas of leg coordination, gait control, stability, incorporation of various types of sensors, etc. This progress has resulted in the demonstration of rudimentary robotic walking capabilities in various labs around the world.
	rvl1.ecn.purdue.edu /RVL/OLD_1/legged-robot/roach.html (399 words)

	Robo
		Controlling locomotion that is not statically stable is very difficult and requires time-critical processing, something that cannot be done (easily) with a Handyboard.
		Legged locomotion is very versatile but not as efficient as wheeled locomotion when the terrain is planar.
		Therefore we will only deal with locomotion that is statically stable-- that's a hard enough challenge as you will see...
	www.cs.dartmouth.edu /~robotlab/robotlab/courses/cs54-2001s/locomotion.html (264 words)

	NeuroLab > DeWeerth Group
		The goal of this research is to test the major theories of motor control and neural connectivity to determine their ability to produce stable locomotion in a real-world, mechanical system.
		A drawback to the use of servos in robots is that they control joint angles by using as much force as possible to acquire and maintain the desired angle.
		An active topic of this research area is to improve the biological similarity of servo-controlled robots by moving the control paradigm away from overcontrolled, feedforward systems and toward systems with closed loop neural control and improved mechanical dynamics.
	www.neuro.gatech.edu /groups/deweerth/robot.html (334 words)

	Research
		When a mobile robot gets stuck, the robot's conventional locomotion strategy and the structured dynamics originally used to model the motion are no longer applicable.
		Thus, depending on the situation, we require a locomotion strategy that returns the robot to its conventional contact mode.
		An important aspect of this locomotion is that RRRobot's inertia varies with leg configuration.
	www.cs.cmu.edu /~bravi/research.html (578 words)

	Why study statically stable locomotion?
		Locomotion in the broadest sense of the word (moving from place to place) is seen everywhere.
		If we have a broader understanding of locomotion, and we have for example the question, what would be the best way of moving a piece of paper from point A to point B, we have a frame work for exploring the options.
		Not only in the obvious places like cars, trains, horses walking, a baby crawling, earthworms digging, but also in copy machines (paper moving from one place to another), people eating (food moving from the mouth to the stomach), All of these examples are also statically stable.
	ai.stanford.edu /users/mark/loco-loco.html (346 words)

	Robo
		In the case of small robots such as the ones used in the Robo-Rats competition, a rolling device is not strictly necessary if the floor is smooth--some robots have used fixed rounded Lego parts in place of captive balls.
		The name refers to the fact that the motion vector of the robot is sum of the independent wheel motions, something that is also true of the mechanical differential (however, this drive system does not use a mechanical differential).
		Another alternative to a caster wheel is a captive ball which does not use a swivel mechanism.
	www.cs.dartmouth.edu /~robotlab/robotlab/courses/cs54-2001s/diffdrive.html (520 words)

	Nat' Academies Press, Motion, Control, and Geometry: Proceedings of a Symposium (1997)
		A second common feature in robot locomotion is the notion of base (or internal) variables versus fiber (or group) variables.
		The simplest form of locomotion is to apply the forces directly, as is done in a spacecraft, where high-energy mass is ejected in the direction opposite to the desired motion.
		The interpretation of locomotion in terms of geometric phases is still far from complete, but it is providing a unifying view of locomotion and manipulation that has already yielded new insights and has impact on several challenging applications.
	www.nap.edu /books/030905785X/html/35.html (844 words)

	PARC's Modular Robotics - Polypod Demonstrations
		Locomotion would be achieved by finding appropriate foothold locations and placing a foot using a inverse kinematics method (ideal for highly redundant serial chains) presented in my thesis, and then shifting weight forward and repeating the sequence.
		Simple locomotion gaits are basic motions that achieve straight line locomotion.
		For the second step, static stability is maintained by ensuring the vertical projection of the center of gravity of the robot remains in the footprint of the foot in contact with the ground by the use of force sensors in that foot.
	www.parc.com /modrobots/chain/polypod/demonstrations.html (851 words)

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Topic: Locomotion No 1

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