Cargando…

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...

Descripción completa

Detalles Bibliográficos
Autores principales: Fujii, Keisuke, Yoshihara, Yuki, Tanabe, Hiroko, Yamamoto, Yuji
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2017
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
_version_ 1783242303705448448
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
work_keys_str_mv AT fujiikeisuke switchingadaptabilityinhumaninspiredsidestepsaminimalmodel
AT yoshiharayuki switchingadaptabilityinhumaninspiredsidestepsaminimalmodel
AT tanabehiroko switchingadaptabilityinhumaninspiredsidestepsaminimalmodel
AT yamamotoyuji switchingadaptabilityinhumaninspiredsidestepsaminimalmodel