?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Global+Dynamics%3A+a+new+concept+for+design+of+dynamical+behavior&rft.creator=Yamamoto%2C+Tomoyuki&rft.creator=Kuniyoshi%2C+Yasuo&rft.subject=Dynamical+Systems&rft.subject=Artificial+Intelligence&rft.subject=Robotics&rft.description=The+global+dynamics%2C+a+novel+concept+for+design+of+human%2Fhumanoid+behavior+is+proposed.+The+principle+of+this+concept+is+to+exploit+the+body+dynamics+and+apply+control+input+only+where+it+is+necessary.%0AWithin+the+phase+space+of+the+body+dynamics%2C+there+are+many+stable+and+unstable+mani-folds+coexist.+Then+if+we+analysed+its+structure+and+obtained+a+map+in+sufficient+resolution%2C+it+may+be+possible+to+realise+a+motion+by+exploiting+stable+regions+for+reducing+control+input+and+unstable+regions+for+switching+between+stable+regions.%0AAlso%2C+we+expect+an+emergence+of+symbols+within+the+dynamics%2C+as+the+series+of+points+where+control+input+should+be+adopted.+This+feature+realises+higher+level+description+and+makes+adaptation+behavior+easier.+We+are+studying+from+two+aspects%2C+the+motion+capture+experiment+and+dynamical+simulation+of+simple+elastic+robot.+The+former+supports+that+above+assumption+and+the+latter+supports+the+exploiting+the+dynamical+stability+is+useful.&rft.publisher=Lund+University+Cognitive+Studies&rft.contributor=Prince%2C+Christopher+G.&rft.contributor=Demiris%2C+Yiannis&rft.contributor=Marom%2C+Yuval&rft.contributor=Kozima%2C+Hideki&rft.contributor=Balkenius%2C+Christian&rft.date=2002&rft.type=Conference+Poster&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F2534%2F1%2FYamamoto.pdf&rft.identifier=++Yamamoto%2C+Tomoyuki+and+Kuniyoshi%2C+Yasuo++(2002)+Global+Dynamics%3A+a+new+concept+for+design+of+dynamical+behavior.++%5BConference+Poster%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F2534%2F