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Achieving bipedal locomotion by using instability: Exploring the origin of human bipedalism

Research Project

Project/Area Number 20H00229
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Review Section Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
Research InstitutionOsaka University

Principal Investigator

青井 伸也  大阪大学, 大学院基礎工学研究科, 教授 (60432366)

Co-Investigator(Kenkyū-buntansha) 中陦 克己  岩手医科大学, 医学部, 教授 (60270485)
荻原 直道  東京大学, 大学院理学系研究科(理学部), 教授 (70324605)
國府 寛司  京都大学, 理学研究科, 教授 (50202057)
Project Period (FY) 2020-04-01 – 2024-03-31
Project Status Granted (Fiscal Year 2023)
Budget Amount *help
¥44,980,000 (Direct Cost: ¥34,600,000、Indirect Cost: ¥10,380,000)
Fiscal Year 2023: ¥8,320,000 (Direct Cost: ¥6,400,000、Indirect Cost: ¥1,920,000)
Fiscal Year 2022: ¥11,050,000 (Direct Cost: ¥8,500,000、Indirect Cost: ¥2,550,000)
Fiscal Year 2021: ¥11,830,000 (Direct Cost: ¥9,100,000、Indirect Cost: ¥2,730,000)
Fiscal Year 2020: ¥13,780,000 (Direct Cost: ¥10,600,000、Indirect Cost: ¥3,180,000)
Keywordsニホンザル / 直立二足歩行 / 不安定性 / 神経筋骨格モデル / 四足歩行 / 二足歩行 / 歩容遷移 / 筋シナジー / 一次運動野 / スパイクトリガー平均 / 非負値行列因子分解 / 最適化 / 予期的姿勢調節
Outline of Research at the Start

ヒトは進化の過程で直立二足歩行を獲得したが、その起源は未だ不明確である。ニホンザルは訓練により直立二足歩行を獲得でき、ヒトの直立二足歩行の起源を理解する上で格好のモデルである。また他の哺乳類とは違って体軸を斜めに向けた四足歩行をし、その結果として前後に姿勢が不安定な期間があることを近年明らかにした。本研究ではこの成果に基づき「四足歩行に内在する前後の姿勢不安定性を利用して直立二足歩行を獲得する」という作業仮説を立て、神経生理学、進化人類学・生体力学、システム工学、力学系理論を基盤とする多角的な研究アプローチからこの仮説を検証し、不安定性という力学に基づく独自の視点から直立二足歩行の起源に迫る。

Outline of Annual Research Achievements

令和4年度も昨年度に引き続いて、神経生理学、進化人類学・生体力学、システム工学、力学系理論を基盤とする研究グループが共同して、研究目的の遂行に向けて研究を推進した。
特に、歩行中のニホンザルの一次運動野・下肢領域から記録した神経細胞活動の筋活動に対する効果をスパイクトリガー平均(spike-triggered averaging)法を用いて検討した結果、一次運動野には下肢筋群を支配する運動ニューロンに対して直接的に投射する細胞が存在して、二足歩行中におけるそれらの細胞活動の効果が四足歩行に比べてより大きいことが明らかとなった。これは、サルの一次運動野が歩行中の脊髄の歩行パターン生成器(Central Pattern Generator, CPG)の活動を調節し、さらには支持脚の間での円滑な重心の受け渡しに寄与することを示唆する結果である。
さらに、ニホンザルの四足歩行時と二足歩行時に計測した筋活動を用いた筋シナジー解析の結果に基づいて昨年度までに構築していたニホンザルの神経筋骨格モデルを用いて、四足歩行から二足歩行へ遷移する動力学シミュレーションを実施した。特に、神経制御モデルにおける特定のパラメータの値に応じた歩容遷移時の振る舞いの違いを調べた。歩容遷移時の足の接地位置と質量中心を結ぶ倒立振子の状態に着目してその力学特性を解析すると、倒立振子の有するサドル不安定性を上手く利用することで、転倒することなく歩容遷移を実現できることが明らかとなった。

Current Status of Research Progress
Current Status of Research Progress

2: Research has progressed on the whole more than it was originally planned.

Reason

ニホンザルの神経筋骨格モデルの動力学シミュレーションから、二足歩行の獲得に寄与する不安定性の役割が明らかとなってきたため。

Strategy for Future Research Activity

ニホンザルの神経筋骨格モデルのシミュレーション結果をニホンザルの計測データと比較して、これまでに得られた結果の妥当性を検証していく。

Report

(4 results)
  • 2022 Annual Research Report
  • 2021 Annual Research Report
  • 2020 Comments on the Screening Results   Annual Research Report
  • Research Products

    (81 results)

All 2023 2022 2021 2020 Other

All Int'l Joint Research (6 results) Journal Article (19 results) (of which Int'l Joint Research: 4 results,  Peer Reviewed: 17 results,  Open Access: 16 results) Presentation (56 results) (of which Int'l Joint Research: 19 results,  Invited: 11 results)

  • [Int'l Joint Research] パリ大学・フランス国立科学研究センター(フランス)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] ドレクセル大学(米国)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] パリ大学・フランス国立科学研究センター(フランス)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] ドレクセル大学(米国)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] CNRS FR3636(フランス)

    • Related Report
      2020 Annual Research Report
  • [Int'l Joint Research] ドレクセル大学(米国)

    • Related Report
      2020 Annual Research Report
  • [Journal Article] 特集 動的環境への適応系としての歩行 ニホンザルの四足歩行と二足歩行に伴う姿勢制御2022

    • Author(s)
      中陦 克己, 望月 圭, 日暮 泰男
    • Journal Title

      BRAIN and NERVE

      Volume: 74 Issue: 9 Pages: 1095-1100

    • DOI

      10.11477/mf.1416202188

    • ISSN
      1344-8129, 1881-6096
    • Year and Date
      2022-09-01
    • Related Report
      2022 Annual Research Report
    • Open Access
  • [Journal Article] Advanced turning maneuver of a many-legged robot using pitchfork bifurcation2022

    • Author(s)
      S. Aoi,R. Tomatsu,Y. Yabuuchi,D. Morozumi,K. Okamoto,S. Fujiki,K. Senda,K. Tsuchiya
    • Journal Title

      IEEE Transactions on Robotics

      Volume: 38 Issue: 5 Pages: 3015-3026

    • DOI

      10.1109/tro.2022.3158194

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Contribution of afferent feedback to adaptive hindlimb walking in cats: a neuromusculoskeletal modeling study.2022

    • Author(s)
      Kim, Y., Aoi, S., Fujiki, S., Danner, S. M., Markin, S. N., Ausborn, J., Rybak, I. A., Yanagihara, D., Senda, K., Tsuchiya, K.
    • Journal Title

      Frontiers in Bioengineering and Biotechnology

      Volume: 10 Pages: 825149-825149

    • DOI

      10.3389/fbioe.2022.825149

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Fore-aft asymmetry improves the stability of trotting in the transverse plane: a modeling study2022

    • Author(s)
      M. Adachi,S. Aoi,T. Kamimura,K. Tsuchiya,F. Matsuno
    • Journal Title

      Frontiers in Bioengineering and Biotechnology

      Volume: 10 Pages: 807777-807777

    • DOI

      10.3389/fbioe.2022.807777

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Three Characteristics of Cheetah Galloping Improve Running Performance Through Spinal Movement: A Modeling Study2022

    • Author(s)
      Tomoya Kamimura, Kaho Sato, Shinya Aoi, Yasuo Higurashi, Naomi Wada, Kazuo Tsuchiya, Akihito Sano, and Fumitoshi Matsuno
    • Journal Title

      Frontiers in Bioengineering and Biotechnology

      Volume: 10 Pages: 825638-825638

    • DOI

      10.3389/fbioe.2022.825638

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Contribution of Phase Resetting to Statistical Persistence in Stride Intervals: A Modeling Study2022

    • Author(s)
      Kota Okamoto, Ippei Obayashi, Hiroshi Kokubu, Kei Senda, Kazuo Tsuchiya, Shinya Aoi
    • Journal Title

      Frontiers in Neural Circuits

      Volume: 16 Pages: 836121-836121

    • DOI

      10.3389/fncir.2022.836121

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Center of mass offset enhances the selection of transverse gallop in high-speed running by horses: a modeling study2022

    • Author(s)
      T. Yamada,S. Aoi,M. Adachi,T. Kamimura,Y. Higurashi,N. Wada,K. Tsuchiya,F. Matsuno
    • Journal Title

      Frontiers in Bioengineering and Biotechnology

      Volume: 10 Pages: 825157-825157

    • DOI

      10.3389/fbioe.2022.825157

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Dynamical determinants enabling two different types of flight in cheetah gallop to enhance speed through spine movement2021

    • Author(s)
      Kamimura Tomoya、Aoi Shinya、Higurashi Yasuo、Wada Naomi、Tsuchiya Kazuo、Matsuno Fumitoshi
    • Journal Title

      Scientific Reports

      Volume: 11 Issue: 1 Pages: 9631-9631

    • DOI

      10.1038/s41598-021-88879-0

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Fast and slow adaptations of interlimb coordination via reflex and learning during split-belt treadmill walking of a quadruped robot2021

    • Author(s)
      S. Aoi,T. Amano,S. Fujiki,K. Senda,K. Tsuchiya
    • Journal Title

      Frontiers in Robotics and AI

      Volume: 8 Pages: 697612-697612

    • DOI

      10.3389/frobt.2021.697612

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Generation of direct-, retrograde-, and source-wave gaits in multi-legged locomotion in a decentralized manner via embodied sensorimotor interaction2021

    • Author(s)
      Y. Ambe,S. Aoi,K. Tsuchiya,F. Matsuno
    • Journal Title

      Frontiers in Neural Circuits

      Volume: 15 Pages: 706064-706064

    • DOI

      10.3389/fncir.2021.706064

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Equilibria and their stability in networks with steep sigmoidal nonlinearities2021

    • Author(s)
      William Duncan, Tomas Gedeon, Hiroshi Kokubu, Konstantin Mischaikow, Hiroe Oka,
    • Journal Title

      SIAM J. Applied Dynamical Systems

      Volume: 20 Issue: 4 Pages: 2108-2141

    • DOI

      10.1137/21m1398331

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Reducing the foot trajectory variabilities during walking through vibratory stimulation of the plantar surface of the foot2021

    • Author(s)
      S. Yamashita,K. Igarashi,N. Ogihara
    • Journal Title

      Scientific Reports

      Volume: 11 Issue: 1 Pages: 7125-7125

    • DOI

      10.1038/s41598-021-86583-7

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Forward dynamic simulation of Japanese macaque bipedal?locomotion demonstrates better energetic economy in a virtualised plantigrade posture2021

    • Author(s)
      Oku Hideki、Ide Naohiko、Ogihara Naomichi
    • Journal Title

      Communications Biology

      Volume: 4 Issue: 1 Pages: 308-308

    • DOI

      10.1038/s42003-021-01831-w

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Body torsional flexibility effects on stability during trotting and pacing based on a simple analytical model2020

    • Author(s)
      M. Adachi,S. Aoi,T. Kamimura,K. Tsuchiya,F. Matsuno
    • Journal Title

      Bioinspiration & Biomimetics

      Volume: 15 Issue: 5 Pages: 055001-055001

    • DOI

      10.1088/1748-3190/ab968d

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Fractal mechanism of basin of attraction in passive dynamic walking2020

    • Author(s)
      Okamoto Kota、Aoi Shinya、Obayashi Ippei、Kokubu Hiroshi、Senda Kei、Tsuchiya Kazuo
    • Journal Title

      Bioinspiration & Biomimetics

      Volume: 15 Issue: 5 Pages: 055002-055002

    • DOI

      10.1088/1748-3190/ab9283

    • NAID

      120006888011

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction2020

    • Author(s)
      K. Okamoto,S. Aoi,I. Obayashi,H. Kokubu,K. Senda,K. Tsuchiya
    • Journal Title

      Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Volume: - Pages: 3908-3913

    • DOI

      10.1109/iros45743.2020.9341800

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] 歩行と走行の違い―神経・筋・骨格モデルによる動力学解析2020

    • Author(s)
      青井伸也
    • Journal Title

      Clinical Neuroscience

      Volume: 38 Pages: 781-783

    • Related Report
      2020 Annual Research Report
  • [Journal Article] Trunk and leg kinematics of grounded and aerial running in bipedal macaques2020

    • Author(s)
      Blickhan Reinhard、Andrada Emanuel、Hirasaki Eishi、Ogihara Naomichi
    • Journal Title

      The Journal of Experimental Biology

      Volume: 224

    • DOI

      10.1242/jeb.225532

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Low leg compliance permits grounded running at speeds where the inverted pendulum model gets airborne2020

    • Author(s)
      Andrada Emanuel、Blickhan Reinhard、Ogihara Naomichi、Rode Christian
    • Journal Title

      Journal of Theoretical Biology

      Volume: 494 Pages: 110227-110227

    • DOI

      10.1016/j.jtbi.2020.110227

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] ネコ後肢の神経筋骨格モデルを用いた感覚情報に基づく肢間協調による歩行適応機序の解析2023

    • Author(s)
      金勇紀,Simon Danner,Sergey Markin,Jessica Ausborn,Ilya Rybak,柳原大,泉田啓,青井伸也
    • Organizer
      第35回自律分散システム・シンポジウム
    • Related Report
      2022 Annual Research Report
  • [Presentation] シンプルな4足モデルを用いたチーターとウマのギャロップの動力学解析2023

    • Author(s)
      上村知也,青井伸也,日暮泰男,和田直己,土屋和雄,松野文俊
    • Organizer
      第35回自律分散システム・シンポジウム
    • Related Report
      2022 Annual Research Report
  • [Presentation] ニホンザルにおける歩行中の姿勢変換に関連したキネマティックスと筋活動2023

    • Author(s)
      鈴木享,望月圭,守田和紀,鈴木喜郎,稲瀨正彦,中陦克己
    • Organizer
      第54回東北生理談話会
    • Related Report
      2022 Annual Research Report
  • [Presentation] ヒトの直立二足歩行の力学・制御・進化2023

    • Author(s)
      荻原直道
    • Organizer
      第19回姿勢と歩行研究会
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] サルの歩行分析から探るヒトの直立二足歩行の進化2023

    • Author(s)
      荻原直道
    • Organizer
      第37回国際生物学賞記念シンポジウム
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] Neuromechanical models and legged robots for the investigation of adaptive locomotion mechanism in humans and animals2022

    • Author(s)
      S. Aoi
    • Organizer
      Physiology Brownbag Seminars
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 動物の優れた歩行・走行メカニズムの理解に向けて:数理モデルやロボットを用いた研究2022

    • Author(s)
      青井伸也
    • Organizer
      第54回獣医学特別セミナー
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] Interactions between spinal circuits and afferent feedback to control locomotion at different speeds2022

    • Author(s)
      S.M. Danner,S.T. Ramalingasetty,S. Fujiki,S.N. Markin,O. Laflamme,T. Akay,S. Aoi, I.A. Rybak
    • Organizer
      FENS Forum 2022
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Investigating contribution of phase resetting to long-range correlations in stride intervals using a simple model2022

    • Author(s)
      K. Okamoto,S. Aoi,I. Obayashi,H. Kokubu,K. Senda,K. Tsuchiya
    • Organizer
      13th Asian Control Conference (ASCC2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A novel bifurcation in hybrid dynamical systems: Towards the analysis of walk,run,and fall in human locomotion2022

    • Author(s)
      H. Morita,S. Aoi,K. Tsuchiya,H. Kokubu
    • Organizer
      13th Asian Control Conference (ASCC2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Analysis of pelvic movement in the coronal plane during human walking and running2022

    • Author(s)
      M. Adachi,S. Aoi,K. Ohata,K. Tsuchiya,F. Matsuno
    • Organizer
      13th Asian Control Conference (ASCC2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Dynamical condition to involve two types of flights in cheetah galloping using a simple model2022

    • Author(s)
      T. Kamimura,S. Aoi,Y. Higurashi,N. Wada,K. Tsuchiya,F. Matsuno
    • Organizer
      13th Asian Control Conference (ASCC2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Investigating the contribution of afferent feedback to adaptive hindlimb walking in cats using a neuromusculoskeletal model2022

    • Author(s)
      Y. Kim,S. Aoi,S. Fujiki,S.M. Danner,S.N. Markin,J. Ausborn,I.A. Rybak,D. Yanagihara,K. Senda,K. Tsuchiya
    • Organizer
      13th Asian Control Conference (ASCC2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Local sensory feedback generates various wave gaits in multi-legged robots via embodied sensorimotor interaction2022

    • Author(s)
      Y. Ambe,S. Aoi,M. Konyo,S. Tadokoro
    • Organizer
      13th Asian Control Conference (ASCC2022)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 受動歩行における吸引領域の特性に基づく新たな無数の周期解の予測と検証2022

    • Author(s)
      岡本耕太,青井伸也,大林一平,國府寛司,泉田啓,土屋和雄
    • Organizer
      第66回システム制御情報学会研究発表講演会(SCI'22)
    • Related Report
      2022 Annual Research Report
  • [Presentation] 足踏み動作の運動解析ー垂直床反力パターンの脚伸縮周波数依存性ー2022

    • Author(s)
      江上静子,寺川翔,大島裕子,辻内伸好,伊藤彰人,青井伸也,土屋和雄
    • Organizer
      第66回システム制御情報学会研究発表講演会(SCI'22)
    • Related Report
      2022 Annual Research Report
  • [Presentation] ニホンザルの歩行中の姿勢変換における体幹と四肢の協調様式2022

    • Author(s)
      鈴木享,望月圭,守田和紀,鈴木喜郎,稲瀨正彦,中陦克己
    • Organizer
      第45回日本神経科学大会
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ニホンザルの歩行姿勢の変換:キネマティックスと筋活動の解析2022

    • Author(s)
      鈴木享,望月圭,守田和紀,鈴木喜郎,稲瀨正彦,中陦克己
    • Organizer
      第54回東北生理談話会
    • Related Report
      2022 Annual Research Report
  • [Presentation] デジタル人類学が解き明かすヒトの進化2022

    • Author(s)
      荻原直道
    • Organizer
      日本モンキーセンター・モンキーキャンパス
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] Experimental and computational studies of bipedal locomotion in the Japanese macaque towards understanding the evolution of human bipedal locomotion2022

    • Author(s)
      N. Ogihara
    • Organizer
      33rd International Symposium on Micro-NanoMechatronics and Human Science
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Biomechanics,Motor Control,and Evolution of Human Bipedal Locomotion2022

    • Author(s)
      N. Ogihara
    • Organizer
      Commemorative Symposium for the 37th International Prize for Biology Human Origins and the Future of the Earth
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 二足歩行中に作用するVertical Free Momentが下肢関節の回旋運動に与える影響2022

    • Author(s)
      荻原直道,根岸拓生
    • Organizer
      第49回日本臨床バイオメカニクス学会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 二足歩行中の足裏に床面から作用するvertical free moment の機能的意義2022

    • Author(s)
      根岸拓生,荻原直道
    • Organizer
      第76回日本人類学会大会・第38回日本霊長類学会大会連合大会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 足裏に作用するvertical free momentがヒト二足歩行に与える影響2022

    • Author(s)
      根岸拓生,荻原直道
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 数理モデルを用いた歩行研究2022

    • Author(s)
      青井伸也
    • Organizer
      第8回歩行リハビテーション研究会
    • Related Report
      2021 Annual Research Report
    • Invited
  • [Presentation] ネコ後肢の神経筋骨格モデルを用いた感覚フィードバックによる歩行適応機序の解析2022

    • Author(s)
      金勇紀,青井伸也,藤木聡一朗,Simon Danner,Jessica Ausborn,Sergey Markin,Ilya Rybak,柳原大,泉田啓,土屋和雄
    • Organizer
      2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] ハイブリッド力学系における新しい分岐:ヒトの歩行・走行・転倒の解析に向けて2022

    • Author(s)
      森田英俊,青井伸也,土屋和雄,國府寛司
    • Organizer
      2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] ヒトの歩行・走行における前額面での骨盤運動の解析2022

    • Author(s)
      安達真永,青井伸也,大畑光司,土屋和雄,松野文俊
    • Organizer
      2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] 足踏み動作の力学解析-垂直床反力パターンの解析-2022

    • Author(s)
      江上静子,寺川翔,大島裕子,伊藤彰人,辻内伸好,青井伸也,土屋和雄
    • Organizer
      2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] 受動歩行におけるサドルノード分岐による複数の周期解の出現と境界クライシスによる消滅2022

    • Author(s)
      岡本耕太,青井伸也,大林一平,國府寛司,泉田啓,土屋和雄
    • Organizer
      2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] 4脚ロボットを用いた共振特性に基づくwalk・trot歩容遷移実験2022

    • Author(s)
      両角大輝,青井伸也,泉田啓,土屋和雄
    • Organizer
      2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] シンプルモデルに基づく位相リセットのストライド時間の長期相関への寄与の解析2022

    • Author(s)
      岡本耕太,青井伸也,大林一平,國府寛司,泉田啓,土屋和雄
    • Organizer
      第34回自律分散システム・シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] ニホンザルの神経筋骨格モデルに基づく倒立振子の不安定性を利用した四足から二足歩行への遷移2022

    • Author(s)
      鶴脊勇士,青井伸也,中陦克己,鈴木享,日暮泰男,大島裕子,泉田啓,土屋和雄
    • Organizer
      第34回自律分散システム・シンポジウム
    • Related Report
      2021 Annual Research Report
  • [Presentation] 霊長類の二足歩行における大脳皮質制御機序:ニホンザルの一次運動野2022

    • Author(s)
      中陦克己
    • Organizer
      第99回日本生理学会大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 数理モデルやロボットを用いた歩行力学の理解と応用2021

    • Author(s)
      青井伸也
    • Organizer
      生体工学セミナー
    • Related Report
      2021 Annual Research Report
    • Invited
  • [Presentation] Boundary crisis by heteroclinic tangency in passive dynamic walking2021

    • Author(s)
      K. Okamoto,S. Aoi,I. Obayashi,H. Kokubu,K. Senda,K. Tsuchiya
    • Organizer
      4th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A novel bifurcation in hybrid dynamical systems: Towards the analysis of walk, run, and fall in human locomotion2021

    • Author(s)
      H. Morita,S. Aoi,K. Tsuchiya,H. Kokubu
    • Organizer
      4th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Simple model analysis on effects of spine movement on quadrupedal bounding2021

    • Author(s)
      K. Sato,T. Kamimura,S. Aoi,Y. Higurashi,N. Wada,K. Tsuchiya,A. Sano,F. Matsuno
    • Organizer
      4th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Dynamical analysis of the effect of fore-hind offset of the center of mass on bounding gait2021

    • Author(s)
      T. Yamada,M. Adachi,T. Kamimura,S. Aoi,K. Tsuchiya,F. Matsuno
    • Organizer
      4th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] その場歩行とその場走行の遷移現象の解析2021

    • Author(s)
      寺川翔,辻内伸好,伊藤彰人,大島裕子,青井伸也,土屋和雄
    • Organizer
      第65回システム制御情報学会研究発表講演会(SCI'21)
    • Related Report
      2021 Annual Research Report
  • [Presentation] 受動歩行における吸引領域の変化とそのメカニズム2021

    • Author(s)
      岡本耕太,青井伸也,大林一平,國府寛司,泉田啓,土屋和雄
    • Organizer
      日本応用数理学会2021年度年会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 接地期を衝突で近似したシンプルモデルを用いたチーターの高速走行の動力学解析2021

    • Author(s)
      上村知也,青井伸也,日暮泰男,和田直己,土屋和雄,松野文俊
    • Organizer
      第39回日本ロボット学会学術講演会(RSJ2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] チーターのギャロップに見られる特徴が走行に与える影響とそのメカニズムの動力学解析2021

    • Author(s)
      上村知也,佐藤花保,青井伸也,日暮泰男,和田直己,土屋和雄,佐野明人,松野文俊
    • Organizer
      第22回システムインテグレーション部門講演会(SI2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] 力学系のリザバー計算2021

    • Author(s)
      國府寛司
    • Organizer
      東京理科大学 第2回数理・AIセミナー
    • Related Report
      2021 Annual Research Report
    • Invited
  • [Presentation] 力学系のリザバー計算:ロジスティック写像の場合2021

    • Author(s)
      國府寛司,原誠人
    • Organizer
      日本数学会秋季総合分科会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 力学系のリザバー計算:ある数学的枠組み2021

    • Author(s)
      國府寛司,原誠人
    • Organizer
      日本数学会秋季総合分科会
    • Related Report
      2021 Annual Research Report
  • [Presentation] Modeling and robotic studies for exploring adaptation mechanism in locomotion2021

    • Author(s)
      S. Aoi
    • Organizer
      The Second University of Leeds - Kyoto University International Symposium
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Fractal in walking2021

    • Author(s)
      S. Aoi
    • Organizer
      HeKKSaGOn Robotics WG Online Workshop
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ニホンザルの四足歩行と二足歩行中における一次運動野の単一神経細胞活動2021

    • Author(s)
      中陦克己,Marc M Maier,守田和紀,鈴木享,稲瀨正彦
    • Organizer
      第126回日本解剖学会総会・全国学術集会・第98回日本生理学会大会合同大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] Learning dynamics of the logistic maps by Reservoir Computing2021

    • Author(s)
      Hiroshi Kokubu
    • Organizer
      International Conference: Differential Equations for Data Science 2021 (DEDS2021)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 筋シナジーに基づく歩行の数理モデル2020

    • Author(s)
      青井伸也
    • Organizer
      第6回嚥下シミュレーション研究会
    • Related Report
      2020 Annual Research Report
    • Invited
  • [Presentation] Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction2020

    • Author(s)
      K. Okamoto,S. Aoi,I. Obayashi,H. Kokubu,K. Senda,K. Tsuchiya
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 受動歩行における吸引領域のフラクタル構造の出現メカニズム2020

    • Author(s)
      岡本耕太,青井伸也,大林一平,國府寛司,泉田啓,土屋和雄
    • Organizer
      第64回システム制御情報学会研究発表講演会(SCI'20)
    • Related Report
      2020 Annual Research Report
  • [Presentation] 質量中心位置の前後非対称性がバウンド歩容に及ぼす効果の動力学解析2020

    • Author(s)
      山田卓生,安達真永,上村知也,早川智洋,青井伸也,土屋和雄,松野文俊
    • Organizer
      第64回システム制御情報学会研究発表講演会(SCI'20)
    • Related Report
      2020 Annual Research Report
  • [Presentation] 吸引領域の形成過程から考える受動歩行におけるカオスアトラクタの消滅2020

    • Author(s)
      岡本耕太,青井伸也,大林一平,國府寛司,泉田啓,土屋和雄
    • Organizer
      日本応用数理学会2020年度会
    • Related Report
      2020 Annual Research Report
  • [Presentation] チーターの体幹曲げ運動が高速走行に与える影響のシンプルモデルを用いた動力学解析2020

    • Author(s)
      佐藤花保,上村知也,青井伸也,日暮泰男,和田直己,土屋和雄,佐野明人,松野文俊
    • Organizer
      第21回システムインテグレーション部門講演会(SI2020)
    • Related Report
      2020 Annual Research Report

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Published: 2020-04-28   Modified: 2024-12-25  

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