6 0 0 0 OA 運動学シナジーに基づくヒトの歩行制御構造の構成論的理解
- 著者
- 舩戸 徹郎 青井 伸也 冨田 望 土屋 和雄
- 出版者
- 一般社団法人 日本ロボット学会
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.31, no.8, pp.739-746, 2013 (Released:2013-11-15)
- 参考文献数
- 18
- 被引用文献数
- 6 5
Human locomotion is a complex system generated by redundant actuators and its interaction with environment. Human manages the redundant body with dexterity for adapting to various environments. Analytical studies have revealed that multiple joints and muscles move simultaneously as if the motion is constraint in low-dimensional structures. These low-dimensional structures, called synergy, should reflect the human control strategy; however a methodology that can deal with an effect of synergy on neural control has not been well-established. This study, thus, proposes a composite approach of analytical and constructive study: a system model that integrates skeletal system built on dynamical simulation and synergies obtained from walking experiment is proposed and discussed. The constructed system model realized a stable walk on both level and slope conditions, and synergy similar to that obtained in human experiment could be observed. By manipulating the contribution of synergy and posture controls inherent in the system model, the model approach revealed the factors for forming average posture during locomotion and the importance of synergy tuning for adapting to slope conditions.
2 0 0 0 OA 剛体多体系の運動方程式のラグランジュ形式による定式化
- 著者
- 土屋 和雄 渡辺 誠治 山田 克彦
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集 C編 (ISSN:03875024)
- 巻号頁・発行日
- vol.58, no.549, pp.1366-1370, 1992-05-25 (Released:2008-02-26)
- 参考文献数
- 6
- 被引用文献数
- 1 2
This paper deals with a mathematical model of the mechanics of rigid bodies connected by rotary joints. The method is based on the Lagrangian formulation. The kinetic energy is written in terms of the angular velocities. The expression for the kinetic energy has a homogeneous quadratic form in the angular velocity, the coefficient matrix of which is given by the products of triangular matrices. The equations of motion are derived from the Lagrange's equations for the quasi-coordinates, the angular velocities of the bodies. The equations of motion become recursive forms due to the structure of the expression of the kinetic energy of the system. The algorithm of the inverse dynamics, which follows from the equations of motion, becomes also a recursive form like the algorithm based on the Newton-Euler equations of motion. Since the algorithm is based on the Lagrangian formulation, it can be extended to more complex systems that include flexible bodies, the constraints of which limit the motion of the systems, and so on.
1 0 0 0 OA ムカデなど多足歩行生物の蛇行生成メカニズムの解明とその工学的応用
本研究課題では,ムカデなど多足歩行生物の蛇行生成メカニズムの解明と工学的応用に向けて,次の 4 つのテーマを実施した.1.ムカデの数理モデルに基づく力学特性の把握2.シンプルモデルに基づく力学構造の明確化3.ロボット実験に基づく工学的実証4.ムカデ計測データに基づく生物学的妥当性の検証.これらの結果から,数理モデルやロボットでは,ある速度を超えると超臨界ホップ分岐を介して蛇行が出現し,速度に依存する蛇行の出現や蛇行の振幅や波数の変化などムカデと同様の傾向を持つことが明らかにされた.これらの研究成果をまとめたものは Physical Review E に採録され,更には,Nature Physics の News & Views で紹介された.
- 著者
- 安部 祐一 青井 伸也 土屋 和雄 松野 文俊
- 出版者
- 公益社団法人 計測自動制御学会
- 雑誌
- 計測自動制御学会論文集 (ISSN:04534654)
- 巻号頁・発行日
- vol.52, no.11, pp.639-652, 2016 (Released:2016-11-23)
- 参考文献数
- 26
- 被引用文献数
- 1
Multi-legged animals show several types of ipsilateral interlimb coordination. Millipedes show the direct wave gait in which the swing leg movements propagate from posterior to anterior. On the other hand, some centipedes show the retrograde wave gait in which the swing leg movements propagate from anterior to posterior. Interestingly, when some millipede walks in a specific way, it is reported that both direct and retrograde waves of the leg movements can coexist with a source part of the waves (we call it as source wave gaits). However, the mechanism behind the gait generation is still unclear because of the complex nature of the interaction between neural control and body dynamic systems. In this paper, we propose a simple model to gain a better understanding of the mechanism, especially how a local sensory feedback affects multi-legged locomotion. We design a planar multi-legged model and its locomotion control system based on biologically-inspired oscillators with a local sensory feedback, phase resetting. Each oscillator controls each leg, and there are no direct interactions among oscillators. Our simulation results reveal three types of gaits, which have different ipsilateral phase relationships (Direct, retrograde and source wave gaits like animals). These gaits are neither predesigned or predetermined, but emerge through the interaction between the neural control and body dynamic systems through phase resetting. These results suggest that the local sensory feedback is important to form proper interlimb coordination and thereby effectively generates multi-legged gaits. In addition, our mathematical analysis with the simple model successfully extracts the essential feature of these gaits, and suggests that these types of locomotion can exist regardless of the number of legs in our system.
1 0 0 0 OA 記号過程を内包した動的適応システムの設計論
- 著者
- 椹木 哲夫 土屋 和雄 門内 輝行 冨田 直秀 横小路 泰義 尾形 哲也 青柳 富誌生 水山 元 中西 弘明 堀口 由貴男 青井 伸也 谷口 忠大
- 出版者
- 京都大学
- 雑誌
- 学術創成研究費
- 巻号頁・発行日
- 2007
複雑なシステムの中におかれたヒトや生体は,自らを取り巻くところの環境や社会を能動的に意味づけ,価値づけ,自らの棲む世界として秩序化していくことができる.本研究課題では,このような自律的主体の「多様性の生成と選択」の機構を「記号過程」に求め,記号の生成・利用のダイナミズムの観点から,生体細胞から環境適応機械(ロボット),社会組織に亘る様々なレベルにおける適応システムの同型性を見いだし,個々のシステム要素が外部・内部の物理的環境との相互作用を介して機能が形成される一般的過程について追究した. 5カ年の成果により,目的をもって生きる存在としての自律的な主体(人,ロボット,細胞)が, 他者主体を含む環境との相互作用を通して,意味の世界を創出して伝達する仕組み(記号過程)を解明し,システムが人を育て,人がシステムを育てる相互主導性を担保できるシステムの設計論を確立することができた。