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Ayers J. — Neurotechnology for biomimetic robots
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Íàçâàíèå: Neurotechnology for biomimetic robotsÀâòîð: Ayers J. Àííîòàöèÿ: The goal of neurotechnology is to confer the performance advantages of animal systems on robotic machines. Biomimetic robots differ from traditional robots in that they are agile, relatively cheap, and able to deal with real-world environments. The engineering of these robots requires a thorough understanding of the biological systems on which they are based, at both the biomechanical and physiological levels.
ßçûê: Ðóáðèêà: Òåõíîëîãèÿ /Ñòàòóñ ïðåäìåòíîãî óêàçàòåëÿ: Ãîòîâ óêàçàòåëü ñ íîìåðàìè ñòðàíèö ed2k: ed2k stats Ãîä èçäàíèÿ: 2002Êîëè÷åñòâî ñòðàíèö: 636Äîáàâëåíà â êàòàëîã: 16.10.2005Îïåðàöèè: Ïîëîæèòü íà ïîëêó |
Ñêîïèðîâàòü ññûëêó äëÿ ôîðóìà | Ñêîïèðîâàòü ID
Ïðåäìåòíûé óêàçàòåëü
Sensors, analog 251 256—257 Sensors, chemo-orientation 561—564 574 Sensors, crustacean 249 Sensors, infrared proximity 281 Sensors, load-detecting 410 422—423 Sensors, magnetoresistive 62 Sensors, molecular concentration 495 Sensors, motion 7 Sensors, olfactory 106—107 Sensors, position 57—70 Sensors, recruitment 355—357 Sensors, solid state 484—485 Sensors, stopper 19—20 22 Sensors, switch vs. strain 14 Sensors, variable-speed scanning 57—65 Sensors, vibration-based 86—93 Sensors, visual 86—93 94 Sensors, wing spar force 472 Sensory fusion, collision avoidance 578—580 Sensory fusion, eye-view reconstruction 580—583 Sensory fusion, object fixation 586—588 590 Sensory fusion, optomotor equilibrium 583—585 Sensory fusion, saccades 576—580 582 586 590 Sensory fusion, search behavior 573 588—589 590 Sensory fusion, test setup 574—576 586—588 Sensory fusion, vision-olfactory 588—589 590 Sequence(s) and lamprey robot 294 Sequence(s) and motor primitives 231 Sequence(s), deriving 252 264—265 Sequence(s), linked 255 Sequencers 243 254 255 Serial configuration 193—194 Serpentine robot 166—167 Servomechanism 62 70 Servomotors and actuators 143 173 Servomotors and olfactory device 108 Servomotors in snake robots 276 277—280 Servomotors on pectoral fins 327 Shape memory 244 Shape memory alloys (SMA) see also "Nitinol" Shape memory alloys (SMA) for lamprey robots 288 Shape memory alloys (SMA) for snake robots 283 Shape memory alloys (SMA), advantages 133 Shape memory alloys (SMA), power, in muscles of 123 126 128 130 133 134 Shock absorption 139—141 145 Sidewinding 274 277—282 Signal averaging, prespike 581 Signals, detection 108 121 Signals, processing 33—34 Silicon and Reichardt motion 38 Silicon and RoboFly 473 Silicon as control 188—189 Silicon as energy source 188—189 Silicon in contact/bending sensors 14—15 17 Silicon in flow sensors 27 Silicon in oculomotor system 81 Silicon in vision sensors 31 43—48 88 91 Silicone 161 164 Sine 432 Sine wave 91—92 Sinusoidal wave 274 Slats, traversing 402—403 Slipping 197 Smell see "Olfaction" Smooth pursuit 79—82 Snake robots in search and rescue 271—273 Snake robots, components 282—283 Snake robots, prototypes 275—282 Snake robots, touch, sense of 282 Snakes 273—275 Snapshot model 519 524—525 526 527 sniffing 107—108 Software for lamprey robot 291 Software for neural controller 245 250 254—255 Solar cues 503 Sonar 256 290 Sound, localization of 534—535 Sound, producing, with polymers 168 Sound, recognition of 534 538—539 Spanning motion 326 Spatial aliasing 88 Spatial factors 527—530 555 573—574 see Speed 246 252 392 see Spiking and flight 455 457 Spiking and vision 92 94 577 Spiking and walking 451—452 Spiking, prespike signal averaging 581 Spinal cord in underwater robots 242 Spinal cord, notocord 242 Spinal cord, vertebrate 223 225—227 228 229 Splines 302 Spring(s) and hawkmoth 459 Spring(s) and posture 407 Spring(s) and scorpion robot 429 Spring(s) in cockroach robot 355—357 378 379 Spring(s) in cricket robot 414 Spring(s) in dolphin robots 311—313 317—318 321—323 Spring(s), damping 429 Spring(s), Hooke's law 360—361 Spring(s), muscle as 139 141 145 150 Stability and swimming 265 333 Stability during flight 35 43 Stability of aircraft 65—70 Stability of Bass II 333 Stability of cockroaches 265—266 Stability of course (walking) 391—392 Stability of Entomopter 484 487 Stance in bipedal model 378—379 Stance in hexapod gait 387—392 Stance in scorpion robot 423—436 429—431 Stance, control, in legged robot 266 410—412 Stance, duration, in Walknet 397 Stance, problems 398 state variables 252 256 State-spaces see "Genetic algorithms" Steering of Entomopter 494—495 Steering, muscles for 457 466 586 Step frequency 453 Step generator 451 452 steps 396—397 Stick insect robot 266 358 359 385—391 389 Stick insects 385—388 389 452 Stiction 15 26 Stiffness and cockroach robot 360—361 371 378 379 Stiffness and ground contact 428 Stiffness and RoboFly 477 Stiffness and snake robots 283 Stiffness of joint 176 Stiffness of muscle 145 148 151 161 Stiffness of muscle, pneumatic 412 Stiffness of wings 490 Stiffness, tunable 412 413 Stopper sensors 19—20 22 strain see also "Stress /strain" Strain and piezoelectric actuator 190—191 Strain on polymeric muscle 154 166—167 178 412 Strength of materials theory 25 Stress and lamprey robot 292 Stress and legged robots 422 Stress and RoboFly 473 Stress, bending 25—26 Stress, residual 22—23 29 Stress/strain 123 150 158 162 see String-based encoding 209 Stroke see "Force and stroke" Struts 139 141 Supervision 256 391—392 Suppressors 254 Surfaces see "Terrain" Surveillance 6 Swimming and pectoral fins 325—326 Swimming and power 149 Swimming by dolphin robots 313—318 321—323 Swimming by lampreys 285—288 Swimming by RoboTuna 299 303 304—305 Swimming by tunas 265 298 303 Swimming in Bass II 331—335 Swimming, backward 326 344 Swimming, control laws 331—332 Swimming, lateral, to right-hand side 332 343 345 Swimming, optimization 213—220 Swimming, tail role 263 265 Swing and posture 406 Swing controller 266 408—410 412 Swing in bipedal SLIP 379 Swing in hexapod 385—388 392—394 398 Swing in running 371 Swing in scorpion robot 429—431 432—436 Swing, feed-forward net 398 Switches and ground contact 422 Switches and legged robots 422 Switches and optomotor response 545—548 Switches in flow sensors 23—26 27 28—29 Switches on contact/bending sensors 14—15 17—19 20 Switches, length of 17—19 20 Switches, packaging 27 Synergies 243—244 246—248 Tails of lamprey robot 291 Tails of RoboTuna 301—302 Tails of snakes 274 Tails of swimming animals 263 265 Target tracking and motor primitives 229 236 Target tracking visual 68—69 70 Tarsi 408—410 Taxic modulation 255 Teflon 242 Temperature and flight 464—465 Temperature of water 123 128 Temperature on Mars 501 502—503 temporal compression 256 Temporal vision 33—34 Tendons 141 Tension 410 412 452—453 Terrain, carpeted 277 Terrain, complex 410 Terrain, crumbly 274 Terrain, grassy 276—277 Terrain, Martian 502 Terrain, rocky 275 502 Terrain, rough 188 190 Terrain, smooth 274 608 Terrain, undulating 282 608 Terrain, uneven 164 265—266 444 Terrain, unpredictable 401 Tethers 413 Tetramethylethylenediamine 106—107 Tetrapod gait 384 395 Thermal anemometers 23 Thorax and lobster robots 252 Thorax in RoboFly 471 473 477—478 Thrust and pectoral fins 328—329 Thrust in hawkmoth flight 453—454 459 Thrust in lamprey undulation 287 Thrust power ratios 214 299 Thrust, control of 244 325 Thrust-force coefficient 340 Thrusters in Bass III 340—342 Thrusters, screw-type 325 Time and Bass III 343—345 Time and distance flown 603 Time and flight speed 603 Time and height 604 Time to contact 35 Time to respond, of muscle 142(table) Time to touchdown 605 Time-variance and force-field primitives 227 229 Time-variance and muscle 145 Timing and chemoreceptors 559 Timing and flight 457 Timing and motor control 235 241 246—248 Timing and phonotaxis 549 Timing and saccades 581—583 Timing of lamprey acts 289 Timing of lift-off command 372 Timing of optic expansion 581—583 Titanium see "Nitinol" Torque and dolphin robots 313—314 321 Torque and Entomopter 492 493 Torque and flight 492 493 Torque and fruit fly 584 Torque and legged robots 130 406 412 422 Torque and optomotor response 35 43 44 Torque and pneumatic system 406 Torque and RoboFly 477 Torque and saccades 576—577 Torque in snake robots 276 278 283 Torque in walking 358 432 Touch, sense of 282 Toxins 6 Tracking see "Target tracking" Trajectories, flight 593—595 Trajectories, landing 599—601 607 Transduction 190 Transistors, field effect 40—41 Transistors, MOS 80 Transitions in multimodic robot 483 Transitions of snake gaits 280 Transitions, swing and stance 388 394 Transitions, tetrapod to tripod 395 Transmission, and muscle 146—148 173 Tripod gait, control 395 409—413 Tripod gait, running 353 395 Tripod gait, step patterns 384—385 Tropotaxis 553—554 562—564 Tunas 265 297 303 see tunnels 584 593—596 see Turbulence 557 559—561 Turns see also "Direction" Turns and Bass III 344—345 Turns and fins 326 Turns and insect walk 398 Turns and saccades 577—578 Turns and sound 541 544—548 Turns and underwater robots 243 246—248 297 Turns by bees 584 Turns by fruit flies 584 589—590 Turns by RoboTuna 301 305—306 Turns in flight 459 461 492 Turns on Mars 502 Turns, banking 461 Twins 118 Ultrasonic beams 482 496—499 Underwater robots 242 see "Contact/bending "Dolphin "Flow "Lobster "RoboTuna" "Swimming" Underwater robots and causality 255 Underwater robots and degrees of freedom 333 Underwater robots and power 134 Underwater robots, actuators 243—245 Underwater robots, antenna design 16—17 Underwater robots, architecture 256—257 Underwater robots, behavior 251—254 Underwater robots, controllers 245—249 Underwater robots, gait 127—133 Underwater robots, hovering 326 331—332 Underwater robots, manipulator for 333—335 Underwater robots, materials 180 Underwater robots, packaging 184 Underwater robots, posture control 127—133 Underwater robots, sensors 249—251 Underwater robots, swimming 213—220 265 Underwater robots, turning 243 246—248 297
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