Simulating adaptive human bipedal locomotion based on phase resetting using foot-contact information

Shinya Aoi, Naomichi Ogihara, Yasuhiro Sugimoto, Kazuo Tsuchiya

研究成果: Article査読

13 被引用数 (Scopus)

抄録

Humans generate bipedal walking by cooperatively manipulating their complicated and redundant musculoskeletal systems to produce adaptive behaviors in diverse environments. To elucidate the mechanisms that generate adaptive human bipedal locomotion, we conduct numerical simulations based on a musculoskeletal model and a locomotor controller constructed from anatomical and physiological findings. In particular, we focus on the adaptive mechanism using phase resetting based on the foot-contact information that modulates the walking behavior. For that purpose, we first reconstruct walking behavior from the measured kinematic data. Next, we examine the roles of phase resetting on the generation of stable locomotion by disturbing the walking model. Our results indicate that phase resetting increases the robustness of the walking behavior against perturbations, suggesting that this mechanism contributes to the generation of adaptive human bipedal locomotion.

本文言語English
ページ(範囲)1697-1713
ページ数17
ジャーナルAdvanced Robotics
22
15
DOI
出版ステータスPublished - 2008 10 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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