Generation of locomotion based on dynamic interaction among neuro-musculo-skeletal systems

2009 Fiscal Year Final Research Report

• Project/Area Number: 17075008
• Research Category: Grant-in-Aid for Scientific Research on Priority Areas
• Allocation Type: Single-year Grants
• Review Section: Science and Engineering
• Research Institution: Kyoto University
• Principal Investigator: OGIHARA Naomichi Kyoto University, 理工学部, 専任講師 (70324605)
• Co-Investigator(Kenkyū-buntansha): TSUCHIYA Kazuo 同志社大学, 理工学部, 教授 (70227429) ; NAKATSUKASA Masato 京都大学, 大学院・理学研究科, 准教授 (00227828) ; SUGIMOTO Yasuhiro 大阪大学, 大学院・工学研究科, 助教 (70402972) ; AOI Shinya 京都大学, 大学院・工学研究科, 助教 (60432366) ; TSUJITA Katsuyoshi 大阪工業大学, 工学部, 准教授 (20252603)
• Project Period (FY): 2005 – 2009
• Keywords: 移動知 / 解剖学 / 生体力学 / 歩行制御神経系 / 知能ロボティクス / ニホンザル / 筋骨格モデル

Research Abstract

We analytically and constructively investigated bipedal locomotion in the Japanese macaque by integrating physiological findings from the locomotor nervous system and the anatomy and biomechanics of the musculoskeletal system, with the aim of illuminating the dynamic principles underlying the emergence of adaptive locomotion in animals. As a result, some mechanisms underlying acquisition and generation of adaptive bipedal locomotion are clarified.

Research Products

• [Journal Article] Evaluating functional roles of phase resetting in generation of adaptive human bipedal walking with a physiologically-based model of the spinal pattern generator (2010)
  • Author(s): S. Aoi, N. Ogihara, T. Funato, Y. Sugimoto, K. Tsuchiya
  • Journal Title: Biological Cybernetics Vol.102 Pages: 373-387
  • Peer Reviewed
• [Journal Article] Three-dimensional musculoskeletal kinematics during bipedal locomotion in the Japanese macaque reconstructed based on an anatomical model-matching method (2010)
  • Author(s): gihara, N., Makishima, H., Nakatsukasa, M.
  • Journal Title: Journal of Human Evolution Vol.58 Pages: 252-261
  • Peer Reviewed
• [Journal Article] A method for quantifying articular surface morphology of metacarpals using quadric surface approximation (2010)
  • Author(s): Matsuura, Y., Ogihara, N., Nakatsukasa, M.
  • Journal Title: International Journal of Primatology
  • Peer Reviewed
• [Journal Article] Dimensions of forelimb muscles in orangutans and chimpanzees (2009)
  • Author(s): Oishi, M., Ogihara, N., Endo, H., Ichihara, N., Asari, M.
  • Journal Title: Journal of Anatomy Vol.215 Pages: 373-382
  • Peer Reviewed
• [Journal Article] Rib orientation and implications for orthograde positional behavior in non-human anthropoids (2009)
  • Author(s): Kagaya, M., Ogihara, N., Nakatsukasa, M.
  • Journal Title: Primates Vol.50 Pages: 305-310
  • Peer Reviewed
• [Journal Article] The Stabilizing function of musculoskeletal system for periodic motion (2009)
  • Author(s): Sugimoto, Y., Aoi, S., Ogihara, N., Tsuchiya, K.
  • Journal Title: Advanced Robotics Vol.23 Pages: 521-534
  • Peer Reviewed
• [Journal Article] Development of an Anatomically Based Whole-Body Musculoskeletal Model of the Japanese Macaque (Macaca fuscata) (2009)
  • Author(s): Ogihara, N., Makishima, H., Aoi, S., Sugimoto, Y., Tsuchiya, K., Nakatsukasa, M.
  • Journal Title: American Journal of Physical Anthropology Vol.139 Pages: 323-338
  • Peer Reviewed
• [Journal Article] 動物運動の自律分散システムモデル (2009)
  • Author(s): 土屋和雄
  • Journal Title: 計測と制御 Vol.48 Pages: 677-680
  • Peer Reviewed
• [Journal Article] 神経筋骨格モデルに基づくヒトの歩行シミュレーション (2009)
  • Author(s): 青井伸也, 荻原直道
  • Journal Title: 計測と制御 Vol.48 Pages: 687-692
  • Peer Reviewed
• [Journal Article] 多脚歩行ロボットの力学特性と運動機能 (2009)
  • Author(s): 青井伸也, 土屋和雄
  • Journal Title: システム/制御/情報 Vol53 Pages: 500-505
  • Peer Reviewed
• [Journal Article] Simulating adaptive human bipedal locomotion based on phase resetting using foot-contact information. (2008)
  • Author(s): Aoi, S., Ogihara, N., Sugimoto, Y., Tsuchiya, K.
  • Journal Title: Advanced Robotics Vol.22 Pages: 1697-1713
  • Peer Reviewed
• [Journal Article] 初期人類の二足歩行運動の生体力学的復元:現状と課題 (2008)
  • Author(s): 荻原直道
  • Journal Title: Anthropological Science (Japanese Series) Vol.116(2) Pages: 99-113
• [Journal Article] 直立二足歩行の進化と筋骨格系の構造改変 (2007)
  • Author(s): 荻原直道
  • Journal Title: BRAIN MEDICAL Vol.19 Pages: 381-386
• [Journal Article] Ground reaction force profiles of bipedal walking in bipedally-trained Japanese monkeys (2007)
  • Author(s): Ogihara, N., Hirasaki, E., Kumakura, H., Nakatsukasa, M
  • Journal Title: Journal of Human Evolution Vol.53 Pages: 302-308
  • Peer Reviewed
• [Presentation] Computer simulation study of bipedal walking in the Japanese macaque based on a musculoskeletal model (2009)
  • Author(s): N. Ogihara, S. Aoi, Y. Sugimoto, K. Tsuchiya, M. Nakatsukasa
  • Organizer: 3rd International Symposium on Mobiligence
  • Place of Presentation: Awaji, Japan
  • Year and Date: 2009-11-20
• [Presentation] System biomechanics of bipedal walking in the Japanese macaque: Exploration of principal mechanism for adaptive locomotion (2009)
  • Author(s): N. Ogihara, S. Aoi, Y. Sugimoto, T. Funato, H. Makishima, M. Nakatsukasa, K. Tsuchiya
  • Organizer: 3rd International Symposium on Mobiligence
  • Place of Presentation: Awaji, Japan
  • Year and Date: 2009-11-20
• [Presentation] Generation of adaptive human bipedal locomotion based on a neuromusculoskeletal model (2009)
  • Author(s): S. Aoi, N. Ogihara, T. Funato, Y. Sugimoto, K. Tsuchiya
  • Organizer: 3rd International Symposium on Mobiligence
  • Place of Presentation: Awaji, Japan
  • Year and Date: 2009-11-20
• [Presentation] Biomechanical analyses and simulation of bipedal locomotion in the Japanese macaque (2009)
  • Author(s): Ogihara, N.
  • Organizer: Workshop: "Adaptive motion in man, animals, and machines"
  • Place of Presentation: Jena, Germany
  • Year and Date: 2009-02-19
• [Presentation] Computer simulation of locomotion in the Japanese monkey: A constructive approach towards understanding adaptive mechanism in primate locomotion (2008)
  • Author(s): Ogihara, N., Aoi, S., Sugimoto, Y., Nakatsukasa, M., Tsuchiya, K.
  • Organizer: IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems Workshop
  • Place of Presentation: Nice, France
  • Year and Date: 2008-09-26
• [Presentation] Experimental and computational studies of bipedal locomotion in the bipedally-trained Japanese monkey (2008)
  • Author(s): Ogihara, N., Hirasaki, E., Nakatsukasa, M.
  • Organizer: The International Primatological Society XXII Congress
  • Place of Presentation: Edinburgh, UK
  • Year and Date: 2008-08-07
• [Presentation] Synthetic study of quadrupedal /bipedal locomotion in the Japanese monkey (2008)
  • Author(s): Ogihara, N., Aoi, S., Sugimoto, Y., Nakatsukasa, M., Tsuchiya, K.
  • Organizer: 4th International Symposium on Adaptive Motions of Animals and Machines
  • Place of Presentation: Cleveland, OH, USA
  • Year and Date: 2008-06-03
• [Presentation] The role of the force-velocity relationship of muscle for the stability of periodic motions (2008)
  • Author(s): Sugimoto, Y., Aoi, S., Ogihara, N., Tsuchiya, K.
  • Organizer: 4th International Symposium on Adaptive Motions of Animals and Machines
  • Place of Presentation: Cleveland, OH, USA
  • Year and Date: 2008-06-03
• [Presentation] Computer Simulation of Adaptive Human Bipedal Locomotion Based on Phase Resetting Using Foot Contact Information (2008)
  • Author(s): Aoi, S., Ogihara, N., Sugimoto, Y., Tsuchiya, K.
  • Organizer: 4th International Symposium on Adaptive Motions of Animals and Machines
  • Place of Presentation: Cleveland, OH, USA
  • Year and Date: 2008-06-03
• [Book] 歩行運動のシステムシミュレーション, 身体適応-歩行運動の神経機構とシステムモデル(シリーズ移動知-第2巻)(土屋和雄・高草木薫・荻原直道編著) (2010)
  • Author(s): 荻原直道・青井伸也
  • Total Pages: 147-188
  • Publisher: オーム社
• [Book] Experimental and computational studies of bipedal locomotion in the bipedally-trained Japanese macaque, In: D'Aout, K. and Vereecke, E.E. (eds) Studying Primate Locomotion: Linking Field and Laboratory Research (2010)
  • Author(s): Ogihara, N., Hirasaki, E., Nakatsukasa, M.
  • Publisher: Springer(in press)
• [Book] Computer simulation of bipedal locomotion: Toward elucidating correlations among musculoskeletal morphology, energetics, and the origin of bipedalism (2006)
  • Author(s): Ogihara, N., Yamazaki, N.
  • Total Pages: 167-174
  • Publisher: Springer