Abstract
Based on neurophysiological evidence, studies modeling human locomotion system have shown that a bipedal walking is generated by mutual entrainments between the oscillatory activities of a central pattern generator (CPG) and a Body. The walking model could well reproduce human walking. However, it has been also shown that time delay in the sensorimotor loop destabilizes mutual entrainments, which leads a failure to walk. Recently, theoretical studies have discovered a phenomenon in which a CPG can induce the phase of its oscillatory activity to shift forward according to time delay. This self-organized phenomenon overcoming time delay is called “flexible-phase locking”. Then, theoretical studies have hypothesized that one of the essential mechanisms to yield of flexible-phase locking is a stable limit cycle of CPG activity. This study demonstrates the hypothesis in walking models through computer simulation by replacing the CPG model with the one having different oscillation properties.
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Weng, W., Ei, SI., Ohgane, K. (2014). Phase Dynamics on the Modified Oscillators in Bipedal Locomotion. In: Anjyo, K. (eds) Mathematical Progress in Expressive Image Synthesis I. Mathematics for Industry, vol 4. Springer, Tokyo. https://doi.org/10.1007/978-4-431-55007-5_18
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DOI: https://doi.org/10.1007/978-4-431-55007-5_18
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