NDLI: Real-time Control of Bipedal Movement based on Basal ganglia and Brainstem systems

Content Provider	IEEE Xplore Digital Library
Author	Nozomi, T. Masafumi, Y.
Copyright Year	2006
Description	Author affiliation: Res. Inst. of Electr. Commun., Tohoku Univ., Sendai (Nozomi, T.; Masafumi, Y.)
Abstract	During the bipedal locomotion in the real world, the body will receive unpredictable forces depending on various factors. Because the biological system has an ability to change various dynamical properties of its own body, an appropriate control of those properties is important for the system to maintain the locomotion in the real world. Muscle-tone is one of important parameters to determine the properties of the body, such as the stiffness and the viscosity. To adapt unpredictable changes of the environment, controlling the muscle-tone seems to be one of useful ways. We show results of model simulations, indicating that flexible and robust bipedal locomotion can emerge from appropriate control of the muscle-tone depending on the ground reaction force. Thus, by determining the properties of body dynamics with adapting unpredictable environments using ground reaction forces, model could be adapted to various loads without needing an explicit posture control
Starting Page	4499
Ending Page	4502
File Size	4804801
Page Count	4
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315036
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Real time systems Control systems Basal ganglia Muscles Force control Communication system control Biological systems Biological control systems Viscosity Robust control Bipedal Movement Mobilligence Locomotion
Content Type	Text
Resource Type	Article

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