Presentation 2014-01-20
Toward Understanding Leg Joint Synergy in Bipedal Walking from Body Dynamics
Seiji TOYOTA, Shoko KAICHIDA, Jun NISHII,
PDF Download Page PDF download Page Link
Abstract(in Japanese) (See Japanese page)
Abstract(in English) Biped locomotion is realized by coordinating redundant degrees of freedom of our body under various environment. Such coordination mechanism of the DOFs are often discussed by respecting the central nervous system (CNS), however, it is possible that the body dynamics also plays an important role. In this study, we analyzed the leg joint synergy in a passive walker with joints at the hip, knee, and ankle, and compared the result with the synergy observed in human walking. The ankle joint of the robot was locked when the ankle reached 0 rad during the swing phase and unlocked at the end of the swing phase to avoid accidental stumbling. In both cases, large joint synergy was observed during the second dubble-support phase and the middle of the swing phase when the toe takes the lowest height, which would contribute to suppress the fluctuation of the center of gravity and posture at touch-down and to avoid accidental stumbling, respectively. This result suggests that the body dynamics would contribute to these synergies and the control of the ankle joint by the CNS would also works for the latter synergy.
Keyword(in Japanese) (See Japanese page)
Keyword(in English) walking / joint synergy / joint coordination / passive walking / UCM analysis
Paper # NC2013-75
Date of Issue

Conference Information
Committee NC
Conference Date 2014/1/13(1days)
Place (in Japanese) (See Japanese page)
Place (in English)
Topics (in Japanese) (See Japanese page)
Topics (in English)
Chair
Vice Chair
Secretary
Assistant

Paper Information
Registration To Neurocomputing (NC)
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Toward Understanding Leg Joint Synergy in Bipedal Walking from Body Dynamics
Sub Title (in English)
Keyword(1) walking
Keyword(2) joint synergy
Keyword(3) joint coordination
Keyword(4) passive walking
Keyword(5) UCM analysis
1st Author's Name Seiji TOYOTA
1st Author's Affiliation Graduate School of Science and Engineering, Yamaguchi University()
2nd Author's Name Shoko KAICHIDA
2nd Author's Affiliation Graduate School of Science and Engineering, Yamaguchi University
3rd Author's Name Jun NISHII
3rd Author's Affiliation Graduate School of Science and Engineering, Yamaguchi University
Date 2014-01-20
Paper # NC2013-75
Volume (vol) vol.113
Number (no) 382
Page pp.pp.-
#Pages 6
Date of Issue