On passive adaptive mechanism in passive dynamic walking

In this paper, we point out that these results imply that the passive dynamic walker includes a kind of adaptive mechanism implicitly in its dynamics. Furthermore, we show some simulation results which show the existence of specific routes in adaptive and learning phenomenon. We claim that these results support the validity of a concept of canalization known in the field of embryology. From these points, we claim that the mobiligence consists of passive mobiligence and active mobiligence. These considerations will be a base of understanding of mobiligence.