期刊
ADVANCED ROBOTICS
卷 22, 期 15, 页码 1697-1713出版社
VSP BV
DOI: 10.1163/156855308X3689785
关键词
Musculoskeletal model; adaptability; foot-contact information; numerical simulation; central pattern generator
类别
资金
- Japanese Ministry of Education, Culture, Sports, Science and Technology [19760173]
- Center of Excellence for Research and Education
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. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008
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