Simulating Adaptive Human Bipedal Locomotion Based on Phase Resetting Using Foot-Contact Information
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概要
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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.
- 2008-12-01
著者
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SUGIMOTO Yasuhiro
Department of Physics, Kyoto University
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Aoi Shinya
Department Of Aeronautics And Astronautics Graduate School Of Engineering Kyoto University
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Ogihara Naomichi
Department Of Zoology Graduate School Of Science Kyoto University
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Ogihara Naomichi
Department Of Biomedical Engineering Faculty Of Science & Technology Keio University
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TSUCHIYA Kazuo
Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University
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Tsuchiya Kazuo
Department Of Energy And Mechanical Engineering Faculty Of Science And Engineering Doshisha Universi
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Tsuchiya Kazuo
Department Of Aeronautics And Astronautics Graduate School Of Engineering Kyoto University
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Sugimoto Yasuhiro
Kobe Univ. Kobe Jpn
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Sugimoto Yasuhiro
Department Of Electrical And Electronic Engineering Chuo University
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SUGIMOTO Yasuhiro
Department of EECE, Chuo University
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