Gait Generation and Its Energy Efficiency Based on Rat Neuromusculoskeletal Model

Toeda, M.; Aoi, Shinya; Fujiki, Soichiro; Funato, Tetsuro; Tsuchiya, Kazuo; Yanagihara, Dai

doi:10.3389/fnins.2019.01337

Cited by 10 publications

(3 citation statements)

References 51 publications

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“…Although some quadrupeds such as giraffes and camels use a pace pattern (Muybridge, 1957), there are no experimental data regarding how their interlimb coordination changes when they walk on a split-belt treadmill, which prevents us from verifying our results from a biological viewpoint and requires further biological studies. To overcome these limitations, musculoskeletal models, which can use similar walk and trot patterns to those used by general quadrupeds, would be useful (Fujiki et al, 2018;Toeda et al, 2020) in future studies.…”

Section: Limitations Of Our Study and Future Workmentioning

confidence: 99%

Fast and Slow Adaptations of Interlimb Coordination via Reflex and Learning During Split-Belt Treadmill Walking of a Quadruped Robot

et al. 2021

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Interlimb coordination plays an important role in adaptive locomotion of humans and animals. This has been investigated using a split-belt treadmill, which imposes different speeds on the two sides of the body. Two types of adaptation have been identified, namely fast and slow adaptations. Fast adaptation induces asymmetric interlimb coordination soon after a change of the treadmill speed condition from same speed for both belts to different speeds. In contrast, slow adaptation slowly reduces the asymmetry after fast adaptation. It has been suggested that these adaptations are primarily achieved by the spinal reflex and cerebellar learning. However, these adaptation mechanisms remain unclear due to the complicated dynamics of locomotion. In our previous work, we developed a locomotion control system for a biped robot based on the spinal reflex and cerebellar learning. We reproduced the fast and slow adaptations observed in humans during split-belt treadmill walking of the biped robot and clarified the adaptation mechanisms from a dynamic viewpoint by focusing on the changes in the relative positions between the center of mass and foot stance induced by reflex and learning. In this study, we modified the control system for application to a quadruped robot. We demonstrate that even though the basic gait pattern of our robot is different from that of general quadrupeds (due to limitations of the robot experiment), fast and slow adaptations that are similar to those of quadrupeds appear during split-belt treadmill walking of the quadruped robot. Furthermore, we clarify these adaptation mechanisms from a dynamic viewpoint, as done in our previous work. These results will increase the understanding of how fast and slow adaptations are generated in quadrupedal locomotion on a split-belt treadmill through body dynamics and sensorimotor integration via the spinal reflex and cerebellar learning and help the development of control strategies for adaptive locomotion of quadruped robots.

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Section: Limitations Of Our Study and Future Workmentioning

confidence: 99%

Fast and Slow Adaptations of Interlimb Coordination via Reflex and Learning During Split-Belt Treadmill Walking of a Quadruped Robot

et al. 2021

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“…To overcome the limitations of the observational approach, modeling research approaches have recently attracted attention ( Alexander, 1988 ; Swanstrom et al, 2005 ; Bertram and Gutmann, 2009 ; Aoi et al, 2017 ; Ambe et al, 2018 ; Fujiki et al, 2018 ; Aoi et al, 2019 ; Toeda et al, 2019 ). Because the legs can be represented by springs, quadruped models with spring legs were developed to investigate the common and unique principles of animal gaits from a dynamic perspective ( Full and Koditschek, 1999 ; Blickhan and Full, 1993 ; Farley et al, 1993 ; Tanase et al, 2015 ; Gan et al, 2016 , Gan et al, 2018 ; Yamada et al, 2022 ).…”

Section: Introductionmentioning

confidence: 99%

Three Characteristics of Cheetah Galloping Improve Running Performance Through Spinal Movement: A Modeling Study

Kamimura

Sato

Aoi

et al. 2022

Front. Bioeng. Biotechnol.

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Cheetahs are the fastest land animal. Their galloping shows three characteristics: small vertical movement of their center of mass, small whole-body pitching movement, and large spine bending movement. We hypothesize that these characteristics lead to enhanced gait performance in cheetahs, including higher gait speed. In this study, we used a simple model with a spine joint and torsional spring, which emulate the body flexibility, to verify our hypothesis from a dynamic perspective. Specifically, we numerically searched periodic solutions and evaluated what extent each solution shows the three characteristics. We then evaluated the gait performance and found that the solutions with the characteristics achieve high performances. This result supports our hypothesis. Furthermore, we revealed the mechanism for the high performances through the dynamics of the spine movement. These findings extend the current understanding of the dynamic mechanisms underlying high-speed locomotion in cheetahs.

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“…Because of the complex nature of the governing dynamics, there are limitations to the understanding of the mechanisms underlying different flight phases in the galloping gait types that can be gained from observations of animals alone. To overcome the limitations of the observational approach in animal locomotion, modeling approaches have attracted recent research attention ( Bertram and Gutmann, 2009 ; Alexander, 1988 ; Marques et al, 2014 ; Markowitz and Herr, 2016 ; Swanstrom et al, 2005 ; Aoi et al, 2017 ; Usherwood and Davies, 2017 ; Ambe et al, 2018 ; Fujiki et al, 2018 ; Aoi et al, 2019 ; Toeda et al, 2019 ). Because the essential contribution of the legs can be represented by springs, the spring-loaded inverted pendulum (SLIP) model was developed to investigate animal locomotion mechanism from a dynamic viewpoint, particularly for human running and walking ( Blickhan, 1989 ; McMahon and Cheng, 1990 ; Seyfarth et al, 2002 ; Geyer et al, 2005, 2006 ; Srinivasan and Holmes, 2008 ; Lipfert et al, 2012 ; Seethapathi and Srinivasan, 2019 ).…”

Section: Introductionmentioning

confidence: 99%

Dynamical determinants of different spine movements and gait speeds in rotary and transverse gallops

Kamimura

Aoi

Higurashi

et al. 2020

Preprint

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Quadruped gallop is categorized into two types: rotary and transverse. While the 11 rotary gallop involves two types of flight with different spine movements, the transverse gallop 12 involves only one type of flight. The rotary gallop can achieve faster locomotion than the 13 transverse gallop. To clarify these mechanisms from a dynamic viewpoint, we developed a simple 14 model and derived periodic solutions by focusing on cheetahs and horses. The solutions gave a 15 criterion to determine the flight type: while the ground reaction force does not change the 16 direction of the spine movement for the rotary gallop, it changes for the transverse gallop, which 17 was verified with the help of animal data. Furthermore, the criterion provided the mechanism by 18 which the rotary gallop achieves higher-speed than the transverse gallop based on the flight 19 duration. These findings improve our understanding of the mechanisms underlying different 20 gaits that animals use. 21 22 65 2018; Fujiki et al., 2018; Aoi et al., 2019; Toeda et al., 2019). Because the essential contribution 66 of the legs can be represented by springs, the spring-loaded inverted pendulum (SLIP) model was 67 developed to investigate animal locomotion mechanism from a dynamic viewpoint, particularly 68 for human running and walking (Tanase et al., 2015) to clarify the 72 common and unique principles between animal gaits. Recently, the SLIP model has been further 73 improved to investigate the dynamic roles of spine movement in quadruped running (Cao and 74 Poulakakis, 2013; Pouya et al., 2017; Wang et al., 2017; Kamimura et al., 2015, 2018). However, 75 the mechanisms underlying the different flight phases between the rotary and transverse gallops 76 380 Alexander M. Why mammals gallop. Integr Comp Biol. 1988; 28(1):237-245.

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Gait Generation and Its Energy Efficiency Based on Rat Neuromusculoskeletal Model

Cited by 10 publications

References 51 publications

Fast and Slow Adaptations of Interlimb Coordination via Reflex and Learning During Split-Belt Treadmill Walking of a Quadruped Robot

Fast and Slow Adaptations of Interlimb Coordination via Reflex and Learning During Split-Belt Treadmill Walking of a Quadruped Robot

Three Characteristics of Cheetah Galloping Improve Running Performance Through Spinal Movement: A Modeling Study

Dynamical determinants of different spine movements and gait speeds in rotary and transverse gallops

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