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Paper Abstract and Keywords
Presentation 2019-07-30 15:15
[Invited Talk] Functional Roles of Phase Resetting Control in Rhythmic Movements and their Engineering Applications -- Mathematical Design of an Optimal Phase Response Curve for Walking Control --
Kazuki Nakada (Tsukuba Univ. Tech..), Keiji Miura (Kwansei Gakuin Univ.) CAS2019-9 VLD2019-15 SIP2019-25 MSS2019-9
Abstract (in Japanese) (See Japanese page) 
(in English) Possible functional roles of the phase resetting control during rhythmic movements have attracted much attention. The phase resetting control is a control mechanism, in which the phase shift of periodic movement is induced depending on the timing of a given perturbation, leading to the dynamical stability. The phase response curve (PRC) is known to quantitatively evaluate the phase shift in the phase resetting control.
It is found that an optimal PRC for bipedal walking becomes bimodal.
From a mathematical point of view, we consider how such characteristics can be obtained. First, we assumed a nonlinear oscillator and a phase excitable element as a model of Central Pattern Generator for controlling rhythmic movements. Second, we constructed feedback control systems by combining them with joint actuators. Next, we numerically computed PRCs of such systems and compared their dynamics and resulting PRCs. We further derived analytical solutions of the PRCs approximately and investigated them systematically. From the results, we clarify the occurring conditions of the bimodal PRCs. Here we show the relationship between the conventional analysis based on perturbation methods and our analysis, and consider the extensibility of our approach. In fact, we expand our approach to apply it from one degree-of-freedom systems to multiple degrees-of-freedom systems, such as walking robots and robot arms. Finally, we discuss the optimal design of phase resetting control mechanism bipedal walking.
Keyword (in Japanese) (See Japanese page) 
(in English) Phase Resetting Control / Rhythmic Movements / Central Pattern Generator (CPG) / Phase Response Curve (PRC) / Phase Reduction / Describing Function / /  
Reference Info. IEICE Tech. Rep., vol. 119, no. 156, MSS2019-9, pp. 39-39, July 2019.
Paper # MSS2019-9 
Date of Issue 2019-07-23 (CAS, VLD, SIP, MSS) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CAS2019-9 VLD2019-15 SIP2019-25 MSS2019-9

Conference Information
Committee MSS CAS SIP VLD  
Conference Date 2019-07-30 - 2019-07-31 
Place (in Japanese) (See Japanese page) 
Place (in English) Iwate Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MSS 
Conference Code 2019-07-MSS-CAS-SIP-VLD 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Functional Roles of Phase Resetting Control in Rhythmic Movements and their Engineering Applications 
Sub Title (in English) Mathematical Design of an Optimal Phase Response Curve for Walking Control 
Keyword(1) Phase Resetting Control  
Keyword(2) Rhythmic Movements  
Keyword(3) Central Pattern Generator (CPG)  
Keyword(4) Phase Response Curve (PRC)  
Keyword(5) Phase Reduction  
Keyword(6) Describing Function  
1st Author's Name Kazuki Nakada  
1st Author's Affiliation Tsukuba University of Technology (Tsukuba Univ. Tech..)
2nd Author's Name Keiji Miura  
2nd Author's Affiliation Kwansei Gakuin University (Kwansei Gakuin Univ.)
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Date Time 2019-07-30 15:15:00 
Presentation Time 50 
Registration for MSS 
Paper # IEICE-CAS2019-9,IEICE-VLD2019-15,IEICE-SIP2019-25,IEICE-MSS2019-9 
Volume (vol) IEICE-119 
Number (no) no.153(CAS), no.154(VLD), no.155(SIP), no.156(MSS) 
Page p.39 
#Pages IEICE-1 
Date of Issue IEICE-CAS-2019-07-23,IEICE-VLD-2019-07-23,IEICE-SIP-2019-07-23,IEICE-MSS-2019-07-23 

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