A simple rule for quadrupedal gait generation determined by leg loading feedback: a modeling study.
A simple rule for quadrupedal gait generation determined by leg loading feedback: a modeling study.
复制标题
DOI：
10.1038/srep08169
复制
发表时间：
2015-02-02
影响因子：
4.6
通讯作者：
Fukui T
中科院分区：
文献类型：
--
作者：
Fukuoka Y;Habu Y;Fukui T
我们发现了通过模拟四足运动生成典型四足步态（四条腿的运动顺序）的特定规则，其中未编程的步态（对角线/横向顺序行走、左/右引导慢跑和左/右引导横向驰骋）由于硬连线到 CPG 的腿部负载反馈而自发出现，以产生默认小跑。此外，正如动物身上所见，所有步态都会根据速度进行转变。因此，我们假设，由于通过腿部负载反馈进行姿势控制，各种步态都源自小跑。小跑时每对对角线的两个支撑腿上的身体倾斜根据速度分为三种类型（水平、向上倾斜或向下倾斜）。两条腿之间的负载差异通过负载反馈导致其 CPG 之间的相位差，从而产生包括上述在内的九种步态（32：三个对角线对的幂）。
We discovered a specific rule for generating typical quadrupedal gaits (the order of the movement of four legs) through a simulated quadrupedal locomotion, in which unprogrammed gaits (diagonal/lateral sequence walks, left/right-lead canters, and left/right-lead transverse gallops) spontaneously emerged because of leg loading feedbacks to the CPGs hard-wired to produce a default trot. Additionally, all gaits transitioned according to speed, as seen in animals. We have therefore hypothesized that various gaits derive from a trot because of posture control through leg loading feedback. The body tilt on the two support legs of each diagonal pair during trotting was classified into three types (level, tilted up, or tilted down) according to speed. The load difference between the two legs led to the phase difference between their CPGs via the loading feedbacks, resulting in nine gaits (32: three tilts to the power of two diagonal pairs) including the aforementioned.
登录
查看更多内容
影响因子：
--
作者：
CAVAGNA, GA;HEGLUND, NC;TAYLOR, CR
通讯作者：
TAYLOR, CR
影响因子：
2.4
作者：
Aoi, Shinya;Yamashita, Tsuyoshi;Tsuchiya, Kazuo
通讯作者：
Tsuchiya, Kazuo
影响因子：
56.9
作者：
BIEWENER, AA
通讯作者：
BIEWENER, AA
DOI：
10.1111/j.1748-1716.1983.tb07267.x
发表时间：
1983-01-01
期刊：
ACTA PHYSIOLOGICA SCANDINAVICA
影响因子：
--
作者：
ANDERSSON, O;GRILLNER, S
通讯作者：
GRILLNER, S
影响因子：
2
作者：
ALEXANDER, RM;JAYES, AS
通讯作者：
JAYES, AS