| Project/Area Number |
23360111
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyoto University |
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Principal Investigator |
AOI Shinya 京都大学, 工学(系)研究科(研究院), 助教 (60432366)
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| Co-Investigator(Kenkyū-buntansha) |
NAKAJIMA Katsumi 近畿大学, 医学部, 講師 (60270485)
YANAGIHARA Dai 東京大学, 大学院・総合文化研究科, 准教授 (90252725)
TSUCHIYA Kazuo 京都大学, 工学研究科, 名誉教授 (70227429)
FUNATO Tetsuro 電気通信大学, 情報理工学研究科, 助教 (40512869)
TOMITA Nozomi 京都大学, 理学研究科, 特定研究員 (00375156)
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥18,850,000 (Direct Cost: ¥14,500,000、Indirect Cost: ¥4,350,000)
Fiscal Year 2013: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2012: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000)
Fiscal Year 2011: ¥8,710,000 (Direct Cost: ¥6,700,000、Indirect Cost: ¥2,010,000)
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| Keywords | 歩行 / 踏破性・頑健性 / 筋骨格・神経機構 / ヒト / サル / ラット / ロボット / シミュレーション / 踏破性 / 頑健性 |
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| Research Abstract |
To clarify the roles of neuromusculoskeletal systems for traversability and robustness in locomotion, we conducted the following two approaches; 1. Analysis of measured data for humans, monkeys, and rats to investigate their motor functions and 2. Constructive approach using neuromusculoskeletal models and robots to evaluate the functional roles of neuromusculoskeletal systems. From the analysis of humans, we elucidated the phase modulation mechanism by identifying the phase response curve during walking. From the analysis of monkeys, we found the roles of the primary and supplementary motor areas during quadrupedal and bipedal locomotion. From the analysis of rats, we clarified the roles of the cerebellar cortex during stepping over an obstacle during walking. For the constructive approach, we evaluated the contribution of neural control system to traversability and robustness in locomotion using a neuromusculoskeletal model of rats and a biped robot.
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