Human movent is in fact most familiar nonlinear dynamical system to us. The
problem is that it is too familiar for us and we do not aware how it is orgnised.
While I was working on nonlinear dynamical system numerically, I found difficulties
of study without real object and joined a groupe of humanoid robotics at ETL
(now reorgnised of AIST)
In the groupe, since the robot was not operational, I was working on motion
capture experiment. We took rising as a experimental subject. While there are
several robots that can rise nowdays, it was a frontier subject then. Of course,
we are not concentrate only on rising but it was a step towards a novel design
principle of movement design.
My idea contributed to the concept "Global Dynamics", originally introduced
by Kuniyoshi and Nagakubo. Its basic idea is to exploit body's inherent motion
to minimise control input (which we call "intervention"). Still it
is just a concept but to estabilish it as a theory, we are working both on theoretical
and experimental sides.
The idea is stated in the papers(see references). Realisation of rising is done
by Kuniyoshi's group by a humanoid robot Daneel (formerly known as ETL-Humanoid).
abbrebiations:
ETL: ElectroTechnical Laboratory
AIST: National Institute of Advanced Industrial Science and Technology
(NOTE: AIST and JAIST are completely independent)
Tomoyuki Yamamoto and Yasuo Kuniyoshi
Flexibility of Human Rising: towards understanding and design of complex dynamical
behaviors
to appear, proceedings of CLAWAR03 (CLimbing And WAlking Robots)
Tomoyuki Yamamoto and Yasuo Kuniyoshi
Stability and controllability in a rising motion: a global dynamics approach
proceedings of IROS2002 pp. 2467-2472
Tomoyuki Yamamoto and Yasuo Kuniyoshi
Global Dynamics: a new concept for design of dynamical behavior
proceedings of second international workshop on Epigenetic Robotics 2003
pp. 177-180
http://www.lucs.lu.se/Abstracts/LUCS_Studies/LUCS94.html
Tomoyuki Yamamoto and Yasuo Kuniyoshi
Harnessing the robot's body dynamics: a global dynamics approach
Proceedings of IROS (Intelligent RObots and Systems) 2001
pp. 518-525