The Boundaries of Walking Stability: Viability and Controllability of Simple Models

Zaytsev, Petr; Wolfslag, Wouter; Ruina, Andy

doi:10.1109/tro.2017.2782818

Cited by 47 publications

(42 citation statements)

References 32 publications

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“…The biomechanics of bipedal gait entail that the cost deviating from the preferred gait cycle may be minimized by planning two steps ahead ([ 25 ]; Figure 4A ), but when the terrain requires significant path planning, walkers will look ahead to the third upcoming foothold earlier in the gait cycle ( Figures 4B and 5 ). This planning window may reflect limitations in working memory, but it also may represent some optimum for path planning as it has been shown that planning future steps yields diminishing returns after about two to three steps [ 55 – 58 ].…”

Section: Discussionmentioning

confidence: 99%

Gaze and the Control of Foot Placement When Walking in Natural Terrain

2018

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SUMMARY Human locomotion through natural environments requires precise coordination between the biomechanics of the bipedal gait cycle and the eye movements that gather the information needed to guide foot placement. However, little is known about how the visual and locomotor systems work together to support movement through the world. We developed a system to simultaneously record gaze and full-body kinematics during locomotion over different outdoor terrains. We found that not only do walkers tune their gaze behavior to the specific information needed to traverse paths of varying complexity but that they do so while maintaining a constant temporal look-ahead window across all terrains. This strategy allows walkers to use gaze to tailor their energetically optimal preferred gait cycle to the upcoming path in order to balance between the drive to move efficiently and the need to place the feet in stable locations. Eye movements and locomotion are intimately linked in a way that reflects the integration of energetic costs, environmental uncertainty, and momentary informational demands of the locomotor task. Thus, the relationship between gaze and gait reveals the structure of the sensorimotor decisions that support successful performance in the face of the varying demands of the natural world.

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Section: Discussionmentioning

confidence: 99%

Gaze and the Control of Foot Placement When Walking in Natural Terrain

2018

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“…The biomechanics of bipedal gait entail that the cost deviating from the preferred gait cycle may be minimized by planning two steps ahead ( [25]; Figure 4A), but when the terrain requires significant path planning, walkers will look ahead to the third upcoming foothold earlier in the gait cycle ( Figures 4B and 5). This planning window may reflect limitations in working memory, but it also may represent some optimum for path planning as it has been shown that planning future steps yields diminishing returns after about two to three steps [55][56][57][58].…”

Section: Discussionmentioning

confidence: 99%

Gaze and the Control of Foot Placement When Walking in Natural Terrain

2018

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Human locomotion through natural environments requires precise coordination between the biomechanics of the bipedal gait cycle and the eye movements that gather the information needed to guide foot placement. However, little is known about how the visual and locomotor systems work together to support movement through the world. We developed a system to simultaneously record gaze and full-body kinematics during locomotion over different outdoor terrains. We found that not only do walkers tune their gaze behavior to the specific information needed to traverse paths of varying complexity but that they do so while maintaining a constant temporal look-ahead window across all terrains. This strategy allows walkers to use gaze to tailor their energetically optimal preferred gait cycle to the upcoming path in order to balance between the drive to move efficiently and the need to place the feet in stable locations. Eye movements and locomotion are intimately linked in a way that reflects the integration of energetic costs, environmental uncertainty, and momentary informational demands of the locomotor task. Thus, the relationship between gaze and gait reveals the structure of the sensorimotor decisions that support successful performance in the face of the varying demands of the natural world. In Brief Matthis et al. recorded subjects' gaze and full-body kinematics during real-world locomotion. Walkers show distinct gaze strategies appropriate for the demands of each terrain. Nevertheless, walkers also adopted a constant look-ahead time across all terrains. Walkers tune gaze behavior to sustain consistent locomotor strategy in all terrains.

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“…The hip strategy does not cluster as clearly as the other strategies, thus we hypothesise that it is an artefact of other motions rather than an intentional motion. The effectiveness of the hip strategy is further questioned in the literature [11], and should be kept in mind when reverse-engineering the AI policy.…”

Section: A Analysing the Ai-policymentioning

confidence: 99%

Decoding Motor Skills of Artificial Intelligence and Human Policies: A Study on Humanoid and Human Balance Control

Yuan

McGreavy

Yang

et al. 2020

IEEE Robot. Automat. Mag.

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AI-guided controller development time per iteration System definition transferred from AI policy Tuning and evaluation Development Time per iteration Development time Performance Max. performance AI policy development time per iteration System definition for DRL framework Tuning and evaluation Reformulation Development time per iteration AI policy development time per iteration System definition for DRL framework Tuning and evaluation Reformulation Development time per iteration Classical controller development time per iteration System definition & mathematical modeling of system, sensors, and actuators Tuning and evaluation Reformulation Development time per iteration AI policy AI-guided controller Classical controller Starting performance AI policy & controller Starting performance AI-guided controller

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The Boundaries of Walking Stability: Viability and Controllability of Simple Models

Cited by 47 publications

References 32 publications

Gaze and the Control of Foot Placement When Walking in Natural Terrain

Gaze and the Control of Foot Placement When Walking in Natural Terrain

Gaze and the Control of Foot Placement When Walking in Natural Terrain

Decoding Motor Skills of Artificial Intelligence and Human Policies: A Study on Humanoid and Human Balance Control

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