Forward dynamic simulation of bipedal walking in the Japanese macaque: Investigation of causal relationships among limb kinematics, speed, and energetics of bipedal locomotion in a nonhuman primate

2011 ◽  
Vol 145 (4) ◽  
pp. 568-580 ◽  
Author(s):  
Naomichi Ogihara ◽  
Shinya Aoi ◽  
Yasuhiro Sugimoto ◽  
Kazuo Tsuchiya ◽  
Masato Nakatsukasa
Keyword(s):  
Dynamic Simulation ◽  
Nonhuman Primate ◽  
Japanese Macaque ◽  
Bipedal Walking ◽  
Bipedal Locomotion ◽  
Causal Relationships ◽  
Limb Kinematics

scholarly journals Forward dynamic simulation of Japanese macaque bipedal locomotion demonstrates better energetic economy in a virtualised plantigrade posture

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Hideki Oku ◽  
Naohiko Ide ◽  
Naomichi Ogihara
Keyword(s):  
Dynamic Simulation ◽  
Japanese Macaque ◽  
Reaction Force ◽  
Morphological Difference ◽  
Bipedal Locomotion ◽  
Vertical Ground Reaction Force ◽  
Cost Of Transport ◽  
Foot Structure ◽  
Musculoskeletal Anatomy ◽  
Heel Contact

AbstractA plantigrade foot with a large robust calcaneus is regarded as a distinctive morphological feature of the human foot; it is presumably the result of adaptation for habitual bipedal locomotion. The foot of the Japanese macaque, on the other hand, does not have such a feature, which hampers it from making foot–ground contact at the heel during bipedal locomotion. Understanding how this morphological difference functionally affects the generation of bipedal locomotion is crucial for elucidating the evolution of human bipedalism. In this study, we constructed a forward dynamic simulation of bipedal locomotion in the Japanese macaque based on a neuromusculoskeletal model to evaluate how virtual manipulation of the foot structure from digitigrade to plantigrade affects the kinematics, dynamics, and energetics of bipedal locomotion in a nonhuman primate whose musculoskeletal anatomy is not adapted to bipedalism. The normal bipedal locomotion generated was in good agreement with that of actual Japanese macaques. If, as in human walking, the foot morphology was altered to allow heel contact, the vertical ground reaction force profile became double-peaked and the cost of transport decreased. These results suggest that evolutionary changes in the foot structure were important for the acquisition of human-like efficient bipedal locomotion.

scholarly journals Locomotor kinematics and EMG activity during quadrupedal versus bipedal gait in the Japanese macaque

2019 ◽  
Vol 122 (1) ◽  
pp. 398-412 ◽  
Author(s):  
Yasuo Higurashi ◽  
Marc A. Maier ◽  
Katsumi Nakajima ◽  
Kazunori Morita ◽  
Soichiro Fujiki ◽  
...  
Keyword(s):  
Neural Control ◽  
Japanese Monkey ◽  
Japanese Macaque ◽  
Spatial Optimization ◽  
Joint Kinematics ◽  
Emg Activity ◽  
Emergent Properties ◽  
Bipedal Locomotion ◽  
Double Support ◽  
Bipedal Gait

Several qualitative features distinguish bipedal from quadrupedal locomotion in mammals. In this study we show quantitative differences between quadrupedal and bipedal gait in the Japanese monkey in terms of gait patterns, trunk/hindlimb kinematics, and electromyographic (EMG) activity, obtained from 3 macaques during treadmill walking. We predicted that as a consequence of an almost upright body axis, bipedal gait would show properties consistent with temporal and spatial optimization countering higher trunk/hindlimb loads and a less stable center of mass (CoM). A comparatively larger step width, an ~9% longer duty cycle, and ~20% increased relative duration of the double-support phase were all in line with such a strategy. Bipedal joint kinematics showed the strongest differences in proximal, and least in distal, hindlimb joint excursions compared with quadrupedal gait. Hindlimb joint coordination (cyclograms) revealed more periods of single-joint rotations during bipedal gait and predominance of proximal joints during single support. The CoM described a symmetrical, quasi-sinusoidal left/right path during bipedal gait, with an alternating shift toward the weight-supporting limb during stance. Trunk/hindlimb EMG activity was nonuniformally increased during bipedal gait, most prominently in proximal antigravity muscles during stance (up to 10-fold). Non-antigravity hindlimb EMG showed altered temporal profiles during liftoff or touchdown. Muscle coactivation was more, but muscle synergies less, frequent during bipedal gait. Together, these results show that behavioral and EMG properties of bipedal vs. quadrupedal gait are quantitatively distinct and suggest that the neural control of bipedal primate locomotion underwent specific adaptations to generate these particular behavioral features to counteract increased load and instability. NEW & NOTEWORTHY Bipedal locomotion imposes particular biomechanical constraints on motor control. In a within-species comparative study, we investigated joint kinematics and electromyographic characteristics of bipedal vs. quadrupedal treadmill locomotion in Japanese macaques. Because these features represent (to a large extent) emergent properties of the underlying neural control, they provide a comparative, behavioral, and neurophysiological framework for understanding the neural system dedicated to bipedal locomotion in this nonhuman primate, which constitutes a critical animal model for human bipedalism.

Reactive and anticipatory control of posture and bipedal locomotion in a nonhuman primate

2004 ◽  
pp. 191-198 ◽  
Author(s):  
Futoshi Mori ◽  
Katsumi Nakajima ◽  
Atsumichi Tachibana ◽  
Chijiko Takasu ◽  
Masahiro Mori ◽  
...  
Keyword(s):  
Nonhuman Primate ◽  
Bipedal Locomotion ◽  
Anticipatory Control

Parametrically excited inverted double pendulum and efficient bipedal walking with an upper body

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 875-886 ◽  
Author(s):  
Toyoyuki Honjo ◽  
Akinori Nagano ◽  
Zhi-Wei Luo
Keyword(s):  
Center Of Mass ◽  
Bipedal Walking ◽  
Upper Body ◽  
Bipedal Locomotion ◽  
Double Pendulum ◽  
Lower Body ◽  
Parametrically Excited ◽  
Body Dynamics ◽  
Walking Locomotion ◽  
Complex Movement

SUMMARYWalking locomotion involves complex movement of total center of mass. Not only the lower body behavior but also the upper body behavior affects the walking characteristics. Therefore, in this paper we derive the principle of parametrically excited inverted double pendulum to consider both lower body and upper body dynamics. We propose one approach to utilize the upper body behavior of the robot for energy efficient bipedal locomotion. In addition, we analyze the property of parametrically excited inverted double pendulum.

scholarly journals Japanese macaque encephalomyelitis: A spontaneous multiple sclerosis-like disease in a nonhuman primate

2011 ◽  
Vol 70 (3) ◽  
pp. 362-373 ◽  
Author(s):  
Michael K. Axthelm ◽  
Dennis N. Bourdette ◽  
Gail H. Marracci ◽  
Weiping Su ◽  
Elizabeth T. Mullaney ◽  
...  
Keyword(s):  
Multiple Sclerosis ◽  
Nonhuman Primate ◽  
Japanese Macaque

scholarly journals Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning

2021 ◽  
Vol 8 ◽  
Author(s):  
Jiahui Zhu ◽  
Chunyan Rong ◽  
Fumiya Iida ◽  
Andre Rosendo
Keyword(s):  
Learning Process ◽  
Bipedal Walking ◽  
Early Age ◽  
Bipedal Locomotion ◽  
Evolutionary Perspective ◽  
Natural Supports ◽  
Walking Velocity ◽  
And Performance ◽  
Scaffolded Learning ◽  
And Training

We reach walking optimality from a very early age by using natural supports, which can be the hands of our parents, chairs, and training wheels, and bootstrap a new knowledge from the recently acquired one. The idea behind bootstrapping is to use the previously acquired knowledge from simpler tasks to accelerate the learning of more complicated ones. In this paper, we propose a scaffolded learning method from an evolutionary perspective, where a biped creature achieves stable and independent bipedal walking while exploiting the natural scaffold of its changing morphology to create a third limb. The novelty of this work is speeding up the learning process with an artificially recreated scaffolded learning. We compare three conditions of scaffolded learning (free, time-constrained, and performance-based scaffolded learning) to reach bipedalism, and we prove that a performance-based scaffold, which is designed by the walking velocity obtained, is the most conducive to bootstrap the learning of bipedal walking. The scope of this work is not to study bipedal locomotion but to investigate the contribution from scaffolded learning to a faster learning process. Beyond a pedagogical experiment, this work presents a powerful tool to accelerate the learning of complex tasks in the Robotics field.

scholarly journals Scaffolded Learning of Bipedal Walkers: Bootstrapping Ontogenetic Development

2020 ◽  
Author(s):  
Jiahui Zhu ◽  
Chunyan Rong ◽  
Fumiya Iida ◽  
Andre Rosendo
Keyword(s):  
Evolutionary Robotics ◽  
Bipedal Walking ◽  
Early Age ◽  
Bipedal Locomotion ◽  
Foot Placement ◽  
Natural Supports ◽  
New Knowledge ◽  
Scaffolded Learning ◽  
Gait Optimization ◽  
And Training

AbstractBipedal locomotion has several key challenges, such as balancing, foot placement, and gait optimization. We reach optimality from a very early age by using natural supports, such as our parent’s hands, chairs, and training wheels, and bootstrap a new knowledge from the recently acquired one. In this paper, we propose a scaffolded learning method from an evolutionary robotics perspective, where a biped creature achieves stable and independent bipedal walking while exploiting the natural scaffold of its changing morphology to create a third limb. Hence, we compare three conditions of scaffolded learning to reach bipedalism, and we prove that a performance-based scaffold is the most conducive to accelerate the learning of ontogenetic bipedal walking. Beyond a pedagogical experiment, this work presents a powerful tool to accelerate learning on robots.

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