---
abstract: |-
  The global dynamics, a novel concept for design of human/humanoid behavior is proposed. The principle of this concept is to exploit the body dynamics and apply control input only where it is necessary.
  Within the phase space of the body dynamics, there are many stable and unstable mani-folds coexist. Then if we analysed its structure and obtained a map in sufficient resolution, it may be possible to realise a motion by exploiting stable regions for reducing control input and unstable regions for switching between stable regions.
  Also, we expect an emergence of symbols within the dynamics, 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, 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.
altloc:
  - http://www.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS94/Yamamoto.pdf
chapter: ~
commentary: ~
commref: ~
confdates: 'August 10-11, 2002'
conference: 'Second International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems'
confloc: 'Edinburgh, Scotland'
contact_email: ~
creators_id: []
creators_name:
  - family: Yamamoto
    given: Tomoyuki
    honourific: ''
    lineage: ''
  - family: Kuniyoshi
    given: Yasuo
    honourific: ''
    lineage: ''
date: 2002
date_type: published
datestamp: 2003-10-04
department: ~
dir: disk0/00/00/25/34
edit_lock_since: ~
edit_lock_until: ~
edit_lock_user: ~
editors_id: []
editors_name:
  - family: Prince
    given: Christopher G.
    honourific: ''
    lineage: ''
  - family: Demiris
    given: Yiannis
    honourific: ''
    lineage: ''
  - family: Marom
    given: Yuval
    honourific: ''
    lineage: ''
  - family: Kozima
    given: Hideki
    honourific: ''
    lineage: ''
  - family: Balkenius
    given: Christian
    honourific: ''
    lineage: ''
eprint_status: archive
eprintid: 2534
fileinfo: /style/images/fileicons/application_pdf.png;/2534/1/Yamamoto.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
item_issues_reported_by: []
item_issues_resolved_by: []
item_issues_status: []
item_issues_timestamp: []
item_issues_type: []
keywords: 'global dynamics, phase space, adaptation behavior'
lastmod: 2011-03-11 08:55:04
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: ~
pagerange: 177-180
pubdom: TRUE
publication: ~
publisher: Lund University Cognitive Studies
refereed: TRUE
referencetext: ~
relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 16:45:39
subjects:
  - comp-sci-mach-dynam-sys
  - comp-sci-art-intel
  - comp-sci-robot
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: 'Global Dynamics: a new concept for design of dynamical behavior'
type: confposter
userid: 3507
volume: 94
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