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Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model
Humans can adapt to abruptly changing situations by coordinating redundant components, even in bipedality. Conventional adaptability has been reproduced by various computational approaches, such as optimal control, neural oscillator, and reinforcement learning; however, the adaptability in bipedal l...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2017
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5461270/ https://www.ncbi.nlm.nih.gov/pubmed/28638333 http://dx.doi.org/10.3389/fnhum.2017.00298 |
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author | Fujii, Keisuke Yoshihara, Yuki Tanabe, Hiroko Yamamoto, Yuji |
author_facet | Fujii, Keisuke Yoshihara, Yuki Tanabe, Hiroko Yamamoto, Yuji |
author_sort | Fujii, Keisuke |
collection | PubMed |
description | Humans can adapt to abruptly changing situations by coordinating redundant components, even in bipedality. Conventional adaptability has been reproduced by various computational approaches, such as optimal control, neural oscillator, and reinforcement learning; however, the adaptability in bipedal locomotion necessary for biological and social activities, such as unpredicted direction change in chase-and-escape, is unknown due to the dynamically unstable multi-link closed-loop system. Here we propose a switching adaptation model for performing bipedal locomotion by improving autonomous distributed control, where autonomous actuators interact without central control and switch the roles for propulsion, balancing, and leg swing. Our switching mobility model achieved direction change at any time using only three actuators, although it showed higher motor costs than comparable models without direction change. Our method of evaluating such adaptation at any time should be utilized as a prerequisite for understanding universal motor control. The proposed algorithm may simply explain and predict the adaptation mechanism in human bipedality to coordinate the actuator functions within and between limbs. |
format | Online Article Text |
id | pubmed-5461270 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-54612702017-06-21 Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model Fujii, Keisuke Yoshihara, Yuki Tanabe, Hiroko Yamamoto, Yuji Front Hum Neurosci Neuroscience Humans can adapt to abruptly changing situations by coordinating redundant components, even in bipedality. Conventional adaptability has been reproduced by various computational approaches, such as optimal control, neural oscillator, and reinforcement learning; however, the adaptability in bipedal locomotion necessary for biological and social activities, such as unpredicted direction change in chase-and-escape, is unknown due to the dynamically unstable multi-link closed-loop system. Here we propose a switching adaptation model for performing bipedal locomotion by improving autonomous distributed control, where autonomous actuators interact without central control and switch the roles for propulsion, balancing, and leg swing. Our switching mobility model achieved direction change at any time using only three actuators, although it showed higher motor costs than comparable models without direction change. Our method of evaluating such adaptation at any time should be utilized as a prerequisite for understanding universal motor control. The proposed algorithm may simply explain and predict the adaptation mechanism in human bipedality to coordinate the actuator functions within and between limbs. Frontiers Media S.A. 2017-06-07 /pmc/articles/PMC5461270/ /pubmed/28638333 http://dx.doi.org/10.3389/fnhum.2017.00298 Text en Copyright © 2017 Fujii, Yoshihara, Tanabe and Yamamoto. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Neuroscience Fujii, Keisuke Yoshihara, Yuki Tanabe, Hiroko Yamamoto, Yuji Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model |
title | Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model |
title_full | Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model |
title_fullStr | Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model |
title_full_unstemmed | Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model |
title_short | Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model |
title_sort | switching adaptability in human-inspired sidesteps: a minimal model |
topic | Neuroscience |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5461270/ https://www.ncbi.nlm.nih.gov/pubmed/28638333 http://dx.doi.org/10.3389/fnhum.2017.00298 |
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