Simulating Adaptive Human Bipedal Locomotion Based on Phase Resetting Using Foot-Contact Information

Authors: Aoi, Shinya¹; Ogihara, Naomichi²; Sugimoto, Yasuhiro¹; Tsuchiya, Kazuo¹

Source: Advanced Robotics, Volume 22, Number 15, 2008 , pp. 1697-1713(17)

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Abstract:

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.

Keywords: MUSCULOSKELETAL MODEL; ADAPTABILITY; FOOT-CONTACT INFORMATION; NUMERICAL SIMULATION; CENTRAL PATTERN GENERATOR

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855308X3689785

Affiliations: 1: Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 606-8501, Japan 2: Department of Zoology, Graduate School of Science, Kyoto University, Oiwake-cho, Kitashirakawa, Sakyo-ku, Kyoto 606-8502, Japan

Publication date: 2008-10-01