Elucidation of the roles of neuromusculoskeletal systems for traversability and robustness in locomotion based on a constructive approach
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 |
Section | 一般 |
Research Field |
Intelligent mechanics/Mechanical systems
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Research Institution | Kyoto University |
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 |
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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Report
(4 results)
Research Products
(143 results)
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[Journal Article] Contributions of phase resetting and interlimb coordination to the adaptive control of hindlimb obstacle avoidance during locomotion in rats : a simulation study2013
Author(s)
S. Aoi, T. Kondo, N. Hayashi, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya
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Journal Title
Biol. Cybern
Volume: 107(2)
Pages: 201-216
DOI
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Peer Reviewed
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[Journal Article] Contributions of phase resetting and interlimb coordination to the adaptive control of hindlimb obstacle avoidance during locomotion in rats: a simulation study2013
Author(s)
S. Aoi, T. Kondo, N. Hayashi, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya
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Journal Title
Biological Cybernetics
Volume: 107
Pages: 201-216
DOI
Related Report
Peer Reviewed
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[Journal Article] Hindlimb obstacle avoidance during rat locomotion based on a neuromusculoskeletal model2012
Author(s)
S. Aoi, N. Hayashi, T. Kondo, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya
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Journal Title
Proc. the 4th IEEE RAS/EMBS Int. Conf. Biomed. Robot. Biomech
Pages: 1046-1051
DOI
Related Report
Peer Reviewed
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[Presentation] ヒト歩行走行遷移時の筋電位解析2013
Author(s)
冨田望, 勝部晃將, 舩戸徹郎, 青井伸也, 土屋和雄
Organizer
第7回Motor Control研究会
Place of Presentation
東京大学 弥生講堂・アネックス
Year and Date
20130907-20130907
Related Report
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[Presentation] ヒト歩容遷移時におけるEMG解析2012
Author(s)
勝部晃將, 冨田望, 舩戸徹郎, 青井伸也, 土屋和雄
Organizer
第13回システムインテグレーション部門講演会
Place of Presentation
福岡国際会議場
Year and Date
20121219-20121219
Related Report
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[Presentation] Hindlimb obstacle avoidance during rat locomotion based on a neuromusculoskeletal model2012
Author(s)
S. Aoi, N. Hayashi, T. Kondo, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya
Organizer
the 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
Place of Presentation
Rome, Italy
Year and Date
20120626-20120626
Related Report
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[Presentation] ラットの神経筋骨格モデルに基づく後肢障害物回避歩行2012
Author(s)
林直宏, 青井伸也, 近藤学宏, 柳原大, 青木祥, 山浦洋, 荻原直道, 舩戸徹郎, 冨田望, 泉田啓, 土屋和雄
Organizer
第24回自律分散システム・シンポジウム
Place of Presentation
神戸市
Year and Date
2012-01-27
Related Report
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