Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models
Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models
复制标题
DOI：
10.1103/physreve.83.061909
复制
发表时间：
2011-06-15
影响因子：
2.4
通讯作者：
Tsuchiya, Kazuo
中科院分区：
文献类型：
--
作者：
Aoi, Shinya;Yamashita, Tsuyoshi;Tsuchiya, Kazuo
我们通过建立一个简单的四足动物模型来研究四足动物的运动动力学，该模型由身体力学模型和振荡器网络模型组成。四足动物模型的前后体由带扭簧和阻尼系统的腰关节连接，四肢由振荡器网络模型的命令信号控制。仿真结果表明，该四足动物模型通过机体机械系统、振子网络系统和环境的动态交互作用产生了多种步态模式。他们还表明，它经历了由腰部关节僵硬度和行走速度变化引起的步态转变。此外，步态模式转换表现出与人类和动物运动相似的滞后性。我们从动力学的角度考察了迟滞机理。
We investigated the dynamics of quadrupedal locomotion by constructing a simple quadruped model that consists of a body mechanical model and an oscillator network model. The quadruped model has front and rear bodies connected by a waist joint with a torsional spring and damper system and four limbs controlled by command signals from the oscillator network model. The simulation results reveal that the quadruped model produces various gait patterns through dynamic interactions among the body mechanical system, the oscillator network system, and the environment. They also show that it undergoes a gait transition induced by changes in the waist joint stiffness and the walking speed. In addition, the gait pattern transition exhibits a hysteresis similar to that observed in human and animal locomotion. We examined the hysteresis mechanism from a dynamic viewpoint.