منابع مشابه
Artificial locomotion control: from human to robots
This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points...
متن کاملOptimal control models of the goal-oriented human locomotion
In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We discuss the modeling of both the dynamical system and the cost to be minimized, and we analyze the corresponding optimal synthesis. The main results describe t...
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To maintain balance during locomotion, the central nervous system (CNS) accommodates changes in the constraints of spatial environment (e.g., existence of an obstacle or changes in the surface properties). Locomotion while modifying the basic movement patterns in response to such constraints is referred to as adaptive locomotion. The most powerful means of ensuring balance during adaptive locom...
متن کاملCan modular strategies simplify neural control of multidirectional human locomotion?
Each human lower limb contains over 50 muscles that are coordinated during locomotion. It has been hypothesized that the nervous system simplifies muscle control through modularity, using neural patterns to activate muscles in groups called synergies. Here we investigate how simple modular controllers based on invariant neural primitives (synergies or patterns) might generate muscle activity ob...
متن کاملNeural Control of Locomotion
L ocomotion is a particularly richly studied but frustrating aspect of biolpgy. Much is known about individual components of the process, but there is.no general hypothesis for how it works. Vertebrate locomotion is distinguished from invertebrate locomotion by the conjunction of two features. The skeletal movements are complex but they are usually regular, repeating sequences (see Hildebrand p...
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ژورنال
عنوان ژورنال: The Journal of Physiology
سال: 2012
ISSN: 0022-3751
DOI: 10.1113/jphysiol.2011.215137