| Presentation | 2009-03-11 An analytical study of leg trajectories of Japanese monkey bipedalism Shoko KAICHIDA, Yoshimitsu HASHIZUME, Naomichi OGIHARA, Jun NISHII, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Japanese monkeys that are skilled at bipedalism show stable walking. However, the leg trajectories show fluctuation at every stride. How leg trajectories of Japanese monkeysare constrained and what kind of fluctuation is allowed during biped walking? In this study, we computed the optimal trajectory which minimizes the energy cost during leg swing. The characteristics of the computed trajectory were in good agreement with the leg swing of Japanese monkeys. Furthermore, we found that the variance of joint angles becomes small from the end of swing to the touch-down, and the variance of relative height of the toe to the hip was kept low by a joint coordination. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Japanese monkey / walking / optimality / energy cost / joint coordination / synergy |
| Paper # | NC2008-123 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2009/3/4(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | An analytical study of leg trajectories of Japanese monkey bipedalism |
| Sub Title (in English) | |
| Keyword(1) | Japanese monkey |
| Keyword(2) | walking |
| Keyword(3) | optimality |
| Keyword(4) | energy cost |
| Keyword(5) | joint coordination |
| Keyword(6) | synergy |
| 1st Author's Name | Shoko KAICHIDA |
| 1st Author's Affiliation | Graduate School of Science and Engineering, Yamaguchi University() |
| 2nd Author's Name | Yoshimitsu HASHIZUME |
| 2nd Author's Affiliation | Graduate School of Science and Engineering, Yamaguchi University |
| 3rd Author's Name | Naomichi OGIHARA |
| 3rd Author's Affiliation | Graduate School of Sciene, Kyoto University |
| 4th Author's Name | Jun NISHII |
| 4th Author's Affiliation | Graduate School of Science and Engineering, Yamaguchi University |
| Date | 2009-03-11 |
| Paper # | NC2008-123 |
| Volume (vol) | vol.108 |
| Number (no) | 480 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |