Neural Preprocessing and Control of Reactive Walking Machines Toward
This book presents biologically inspired walking machines interacting with their physical environment. It describes how the designs of the morphology and the behavior control of walking machines can benefit from biological studies. The purpose of this boo
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Advisory Board: Luigia Carlucci Aiello Franz Baader Wolfgang Bibel Leonard Bolc Craig Boutilier Ron Brachman Bruce G. Buchanan Anthony Cohn Artur d’Avila Garcez Luis Fariñas del Cerro Koichi Furukawa Georg Gottlob Patrick J. Hayes James A. Hendler Anthony Jameson Nick Jennings Aravind K. Joshi Hans Kamp Martin Kay Hiroaki Kitano Robert Kowalski Sarit Kraus Maurizio Lenzerini Hector Levesque John Lloyd
Alan Mackworth Mark Maybury Tom Mitchell Johanna D. Moore Stephen H. Muggleton Bernhard Nebel Sharon Oviatt Luis Pereira Lu Ruqian Stuart Russell Erik Sandewall Luc Steels Oliviero Stock Peter Stone Gerhard Strube Katia Sycara Milind Tambe Hidehiko Tanaka Sebastian Thrun Junichi Tsujii Kurt VanLehn Andrei Voronkov Toby Walsh Bonnie Webber
Poramate Manoonpong
Neural Preprocessing and Control of Reactive Walking Machines Towards Versatile Artificial Perception–Action Systems With 142 Figures and 3 Tables
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Author: Poramate Manoonpong Bernstein Center for Computational Neuroscience (BCCN) Georg-August Universität Göttingen Bunsenstrasse 10 (at Max Planck Institute for Dynamics and Self-Organization) 37073 Göttingen, Germany [email protected] Managing Editors: Prof. Dov M. Gabbay Augustus De Morgan Professor of Logic Department of Computer Science, King’s College London Strand, London WC2R 2LS, UK Prof. Dr. Jörg Siekmann Forschungsbereich Deduktions- und Multiagentensysteme, DFKI Stuhlsatzenweg 3, Geb. 43, 66123 Saarbrücken, Germany
Library of Congress Control Number: 2007925716
ACM Computing Classification (1998): I.2.9, I.5.4, I.6.3, I.2.0 ISSN 1611-2482 ISBN 978-3-540-68802-0 Springer Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. Springer is a part of Springer Science+Business Media springer.com © Springer-Verlag Berlin Heidelberg 2007 The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Cover Design: KünkelLopka, Heidelberg Typesetting: by the Author Production: LE-TEX Jelonek, Schmidt & Vöckler GbR, Leipzig Printed on acid-free paper
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To my family and in loving memory of my late grandfather, Surin Leangsomboon
Foreword
Biologically inspired walking machines are fascinating objects to study, from the point of view of their mechatronical design as well as the realisation of control concepts. Research on this subject ta
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