Presentation 2017-06-29
[Invited Lecture] An Optimization of the Phase Resetting Control and its Application to Walking Control
Kazuki Nakada,
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Abstract(in Japanese) (See Japanese page)
Abstract(in English) Recently, the functional role of the phase resetting control during rhythmic movement including walking has been focused. The phase resetting control is a control mechanism, in which the phase shift of rhythmic movement is induced depending on the timing of a given perturbation, leading to a rapid transition from an unstable state to a stable state of the system. The phase response curve (PRC) is known to quantitatively evaluate the phase shift in the phase resetting control. In previous works, it is shown that an optimum PRC for bipedal walking can be acquired by reinforcement learning, and it becomes bimodal as different from major PRCs of a general class of limit cycle oscillators. This result is consistent with measured results obtained from experiments. However, it has still not been clarified how such characteristics are obtained. In this report, we consider the condition under which an optimal PRC for walking is obtained from a mathematical point of view. First, we consider a piecewise linear oscillator and a phase neural element known as an active rotator as a model of the Central Pattern Generator (CPG) that controls rhythmic movements, and construct feedback control systems by combining them with a single pendulum and a double pendulum. Next, we numerically computed PRCs of these systems and demonstrate that the obtained PRCs becomes bimodal. From these results, we discuss requirements for realizing an optimum PRC for rhythmic movements.
Keyword(in Japanese) (See Japanese page)
Keyword(in English) Phase Resetting Control / Phase Response Curve (PRC) / Piecewise Linear Oscillator / Phase Neural Element / Phase Reduction Method
Paper # CCS2017-4
Date of Issue 2017-06-22 (CCS)

Conference Information
Committee CCS
Conference Date 2017/6/29(2days)
Place (in Japanese) (See Japanese page)
Place (in English) Ibaraki Univ.
Topics (in Japanese) (See Japanese page)
Topics (in English) Interaction and Communication, etc.
Chair Naoki Wakamiya(Osaka Univ.)
Vice Chair Mikio Hasegawa(Tokyo Univ. of Science) / Makoto Naruse(NICT)
Secretary Mikio Hasegawa(Osaka Univ.) / Makoto Naruse(Tokyo City Univ.)
Assistant Chisa Takano(Hirishima City Univ.) / Takashi Shimada(Univ. of Tokyo) / Tomoya Suzuki(Ibaraki Univ.) / Ryo Takahashi(AUT)

Paper Information
Registration To Technical Committee on Complex Communication Sciences
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) [Invited Lecture] An Optimization of the Phase Resetting Control and its Application to Walking Control
Sub Title (in English)
Keyword(1) Phase Resetting Control
Keyword(2) Phase Response Curve (PRC)
Keyword(3) Piecewise Linear Oscillator
Keyword(4) Phase Neural Element
Keyword(5) Phase Reduction Method
1st Author's Name Kazuki Nakada
1st Author's Affiliation Hiroshima City University(Hiroshima City Univ.)
Date 2017-06-29
Paper # CCS2017-4
Volume (vol) vol.117
Number (no) CCS-112
Page pp.pp.15-20(CCS),
#Pages 6
Date of Issue 2017-06-22 (CCS)