Head-bobbing behavior in walking whooping cranes (Grus americana) and sandhill cranes (Grus canadensis)

Cronin, Thomas W.; Kinloch, Matthew; Olsen, Glenn H.

doi:10.1007/s10336-007-0199-0

Cited by 8 publications

(7 citation statements)

References 17 publications

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“…The platform's motion was oscillating around the horizontal orientation with the magnitudes significantly smaller than the magnitudes of the base motion with respect to the platform. The base link was moved with the magnitudes of [40][41][42][43][44][45][46][47][48][49][50] • with respect to the platform's orientation. Liquid inside the inclinometer followed the motion of the base link and the platform and the tilt measurements from the inclinometer reached up to 20…”

Section: Resultsmentioning

confidence: 99%

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Modeling Verticality Estimation During Locomotion

Farkhatdinov

Michalska

Berthoz

et al. 2013

Romansy 19 – Robot Design, Dynamics and Control

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In this thesis, a nonlinear model of the vestibular system is proposed, with special reference to humans and other locomoting animals. The vestibular system is essential for stable locomotion since it provides idiothetic measurements of spatial orientation that are needed for postural control. The model was constructed from general considerations regarding the Newton-Euler dynamics governing the three-dimensional movements of bodies constrained to oscillate in non-inertial frames, such as the otoliths, which were modeled as spherical damped pendula. Two configurations were considered. The medial model considered only one inner ear located in the center of a head. The lateral model considered two inner ears located laterally with respect to the center of rotation of the head. The differences between these two models were analyzed and the importance of having two vestibular organs discussed. To this end, a nonlinear algebraic observability test was used to verify whether the reconstruction of the head orientation with respect to the gravitational vertical was possible from otoliths measurements only. It could be shown that in order for the head vertical orientation to be observable, the head had to be stabilized during locomotion. Moreover, it was shown that the gravitoinertial ambiguity inherent to inertial idiothetic sensing could be resolved if the head was horizontally stabilized. These results were applied to solve the head vertical orientation estimation problem in the linearized case (Luenberger observer, Kalman filter) as well as in the nonlinear case (Extended Kalman filter, Newton method based observation). These observers were designed and tested in simulations. The simulations indicated that the estimation errors were smaller and the observers converged faster when head was stabilized during locomotion, leading to a nonlinear, combined observation-control system that could be stabilized with respect to the gravitational vertical based on no other information than the prior knowledge of the Newton-Euler dynamics. The results were further tested with a specifically designed experimental setup that comprised an actuated gimbal mechanism to represent the head-neck articulation and a liquid-based inclinometer that represented the otoliths organs. The findings derived from this research would be helpful for analyzing spatial perception in humans and animals, and for improving the perceptual capabilities of robotic systems, such as humanoid robots, rough terrain vehicles, or free-moving drones.Keywords: vestibular system, head-neck system, nonlinear system, observation, estimation, verticality, spatial perception, locomotion, humanoid robot. 3 RésuméDans cette thèse, nous proposons un modèle non-linéaire du système vestibulaire, en particulier chez l'humain et autres animaux mobiles. Le système vestibulaire est essentiel pour une locomotion stable dans la mesure où il fournit des mesures idiothétiques d'orientation spatiale nécessairesà la stabilité posturale. Le développement du modèle est basé sur l...

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Section: Resultsmentioning

confidence: 99%

“…Head bobbing during locomotion is a very well known behavior for birds like pigeons, egrets, whooping cranes [70,48,43,71,185]. Head-bobbing behavior results in stabilization of the head to the surroundings for a part of each locomotion cycle.…”

Section: Head Stabilizationmentioning

confidence: 99%

Modeling Verticality Estimation During Locomotion

Farkhatdinov

Michalska

Berthoz

et al. 2013

Romansy 19 – Robot Design, Dynamics and Control

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“…While foraging along the seafloor, cormorants were frequently observed to move their head constantly forward and backward. This rhythmic movement of the head called “head-bobbing” is observed in many avian species [ 52 , 53 ] and has functional implications for vision (e.g. [ 54 ]).…”

Section: Discussionmentioning

confidence: 99%

Selfies of Imperial Cormorants (Phalacrocorax atriceps): What Is Happening Underwater?

et al. 2015

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During the last few years, the development of animal-borne still cameras and video recorders has enabled researchers to observe what a wild animal sees in the field. In the present study, we deployed miniaturized video recorders to investigate the underwater foraging behavior of Imperial cormorants (Phalacrocorax atriceps). Video footage was obtained from 12 animals and 49 dives comprising a total of 8.1 h of foraging data. Video information revealed that Imperial cormorants are almost exclusively benthic feeders. While foraging along the seafloor, animals did not necessarily keep their body horizontal but inclined it downwards. The head of the instrumented animal was always visible in the videos and in the majority of the dives it was moved constantly forward and backward by extending and contracting the neck while travelling on the seafloor. Animals detected prey at very short distances, performed quick capture attempts and spent the majority of their time on the seafloor searching for prey. Cormorants foraged at three different sea bottom habitats and the way in which they searched for food differed between habitats. Dives were frequently performed under low luminosity levels suggesting that cormorants would locate prey with other sensory systems in addition to sight. Our video data support the idea that Imperial cormorants’ efficient hunting involves the use of specialized foraging techniques to compensate for their poor underwater vision.

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“…In most of the cases, different types of herons stabilised their heads' spatial orientation and location while their body was disturbed by harmonic oscillations. Head bobbing during locomotion is a very well-known behaviour for birds like pigeons, egrets, whooping cranes [55,38,34,56,136]. Head-bobbing behaviour results in stabilisation of the head to the surroundings for specific phases of the locomotion cycle.…”

Section: Head Stabilisation Behaviour In Animals and Humansmentioning

confidence: 99%

Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots

Farkhatdinov

Michalska

Berthoz

et al. 2018

Springer Tracts in Advanced Robotics

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In many walking, running, flying, and swimming animals, including mammals, reptiles, and birds, the vestibular system plays a central role for verticality estimation and is often associated with a head stabilisation (in rotation) behaviour. Head stabilisation, in turn, subserves gaze stabilisation, postural control, visual-vestibular information fusion and spatial awareness via the active establishment of a quasi-inertial frame of reference. Head stabilisation helps animals to cope with the computational consequences of angular movements that complicate the reliable estimation of the vertical direction. We suggest that this strategy could also benefit free-moving robotic systems, such as locomoting humanoid robots, which are typically equipped with inertial measurements units. Free-moving robotic systems could gain the full benefits of inertial measurements if the measurement units are placed on independently orientable platforms, such as a human-like heads. We illustrate these benefits by analysing recent humanoid robots design and control approaches.

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Head-bobbing behavior in walking whooping cranes (Grus americana) and sandhill cranes (Grus canadensis)

Cited by 8 publications

References 17 publications

Modeling Verticality Estimation During Locomotion

Modeling Verticality Estimation During Locomotion

Selfies of Imperial Cormorants (Phalacrocorax atriceps): What Is Happening Underwater?

Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots

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