AMAM 2008 Abstracts

Humans generate bipedal walking by cooperatively manipulating their complicated and redundant musculoskeletal systems and produce adaptive behaviors in diverse environments. To elucidate the mechanisms in generating adaptive human bipedal locomotion, we conduct numerical simulations based on the musculoskeletal model and locomotor controller constructed from the anatomical and physiological findings. In particular, we focus on the adaptive mechanism using the phase resetting based on the foot contact information that modulates the walking behavior. For the purpose, we first reconstruct the walking behavior from the measured kinematic data. Next, we examine the roles of the phase resetting by disturbing the walking model and clarify that the phase resetting increases the robustness of the walking behavior against perturbations.