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In this study, we investigated the adaptive behavior during hindlimb locomotion of rats on a split-belt treadmill. We measured and analyzed the movement of intact rats walking by the hindlimbs on the splitbelt treadmill with two conditions: symmetric and asymmetric belt speed. In addition, we conducted the dynamic simulation of a neuromusculoskeletal model of rat's hindlimb walking on a split-belt...
Human generates very slow (<1 Hz) body sway during standing, and the behavior of this sway is known to be changed characteristically depending on the neural ataxia. In order to investigate the sway mechanism and mechanism of neural ataxia through this sway behavior, the present research proposes an experimental environment of rats under bipedal standing. By the experiment, we succeeded the measurement...
In this study, we conducted computer simulation of splitbelt treadmill walking by the hindlimbs of a rat based on a neuromusculoskeletal model. We developed the skeletal model based on anatomical data and constructed the nervous system model for locomotion based on the physiological findings of muscle synergy, central pattern generator, and sensory regulation by phase resetting. Our simulation results...
In this paper, we investigated the dynamic characteristics in the gait of a quadruped robot, which is controlled by an oscillator network constructed based on the physiological concept of central pattern generators and the physiological evidence of phase resetting. From the observation in humans, two-parameter cusp catastrophe is suggested to be embedded in the walk-run transition with the locomotion...
In this paper, we proposed a control system with learning to investigate neuromechanical functions for generating adaptive bipedal locomotion on a splitbelt treadmill. Humans show two types of adaptations, called early adaptation and late adaptation, in splitbelt treadmill walking. In our previous work, we investigated the locomotor behavior of a biped robot driven by nonlinear oscillators with phase...
To investigate the adaptability of a biped robot controlled by nonlinear oscillators with phase resetting based on central pattern generators, we examined the walking behavior of a biped robot on a splitbelt treadmill that has two parallel belts controlled independently. In an experiment, we demonstrated the dynamic interactions among the robot mechanical system, the oscillator control system, and...
In this paper, we investigated the dynamic locomotion of a quadruped robot. This robot is controlled by a locomotion control system composed of nonlinear oscillators, which was constructed based on the physiological concept of central pattern generator and phase resetting. In our previous work, we revealed that the quadruped robot produces the walk and trot gaits depending on the locomotion speed...
In this paper, we investigated the locomotor behavior of a biped robot on a splitbelt treadmill using computer simulation. In our previous work, we showed that our robot generated adaptive walking on a splitbelt treadmill using a locomotion control system composed of nonlinear oscillators with phase resetting. However, the control system didn't use any learning mechanism unlike adaptive splitbelt...
Our previous work has revealed that a quadruped robot, whose legs are controlled by nonlinear oscillators with phase resetting, shows a walk-trot transition induced by changing the locomotion speed through dynamic interactions among the robot's mechanical system, the oscillator control system, and the environment. Furthermore, the gait-pattern transition exhibited a hysteresis similar to that observed...
Although physiological studies have shown evidence of phase resetting during fictive locomotion, the functional roles of phase resetting in actual locomotion remain largely unclear. In this paper, we have constructed a control system for a biped robot based on physiological findings and investigated the functional roles of phase resetting in the gait transition from quadrupedal to bipedal locomotion...
In this paper, we investigate the locomotor behaviors of a biped robot on a splitbelt treadmill using a locomotion-control system composed of nonlinear oscillators with phase resetting. Our results show that the robot establishes stable walking on the treadmill at various speeds of the belts due to modulation of the rhythm and phase by phase resetting. In addition, the phase differences between the...
In this paper, we investigated the locomotion of a quadruped robot, whose legs are controlled by an oscillator network system. In our previous work, simulation studies revealed that a quadruped robot produces walk and trot patterns through dynamic interactions among the robot's mechanical system, the oscillator network system, and the environment. These studies also showed that a walk-trot transition...
In this paper, we investigate the locomotor behaviors of a biped robot on a splitbelt treadmill using a locomotion-control system composed of nonlinear oscillators with phase resetting. Our results show that the robot establishes stable walking on the treadmill at various speeds of the belts due to modulation of the rhythm and phase by phase resetting. In addition, the phase differences between the...
In this paper, we investigated the locomotion of a quadruped robot, whose legs are controlled by an oscillator network system. In our previous work, simulation studies revealed that a quadruped robot produces walk and trot patterns through dynamic interactions among the robot's mechanical system, the oscillator network system, and the environment. These studies also showed that a walk-trot transition...
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