| Presentation | 2014-01-20 Toward Understanding Leg Joint Synergy in Bipedal Walking from Body Dynamics Seiji TOYOTA, Shoko KAICHIDA, Jun NISHII, |
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| 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 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2014/1/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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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) | 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 | |