Quadrupedal locomotor simulation: producing more realistic gaits using dual-objective optimization.
Quadrupedal locomotor simulation: producing more realistic gaits using dual-objective optimization.
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DOI：
10.1098/rsos.171836
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发表时间：
2018-03
影响因子：
3.5
通讯作者：
Hirasaki E
中科院分区：
文献类型：
--
作者：
Sellers WI;Hirasaki E
在进化生物力学中，人们通常认为步态的进化应该使行走给定距离的能量消耗最小化。在步态模拟中，这一目标通常会导致令人信服的步态生成。然而，随着使用的肌肉骨骼模型变得越来越复杂，很明显，这样一个单一的目标可能会导致非常不现实的步态模式。在本文中，我们探讨了需要足够的横向稳定性的影响，并展示了这是如何增加能量成本和现实主义的高生物逼真度黑猩猩肌肉骨骼模型中产生的行走步态。我们还探讨了在模拟中改变脚步序列的影响，因此它模仿了灵长类动物通常使用的对角序列行走步态和哺乳动物中更普遍的横向序列行走步态。很明显，添加横向稳定性标准对脚步相位关系具有重要影响，这表明横向稳定性可能是四足步态中观察到的脚步序列背后的关键驱动因素之一。观察到，单一的优化目标是不再足以在当前的模型中产生步态的仿生虚拟机器人的使用，以预测化石动物的运动模式具有重要意义。
In evolutionary biomechanics it is often considered that gaits should evolve to minimize the energetic cost of travelling a given distance. In gait simulation this goal often leads to convincing gait generation. However, as the musculoskeletal models used get increasingly sophisticated, it becomes apparent that such a single goal can lead to extremely unrealistic gait patterns. In this paper, we explore the effects of requiring adequate lateral stability and show how this increases both energetic cost and the realism of the generated walking gait in a high biofidelity chimpanzee musculoskeletal model. We also explore the effects of changing the footfall sequences in the simulation so it mimics both the diagonal sequence walking gaits that primates typically use and also the lateral sequence walking gaits that are much more widespread among mammals. It is apparent that adding a lateral stability criterion has an important effect on the footfall phase relationship, suggesting that lateral stability may be one of the key drivers behind the observed footfall sequences in quadrupedal gaits. The observation that single optimization goals are no longer adequate for generating gait in current models has important implications for the use of biomimetic virtual robots to predict the locomotor patterns in fossil animals.
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影响因子：
64.8
作者：
Griffin, TM;Kram, R
通讯作者：
Kram, R
DOI：
10.1242/jeb.020578
发表时间：
2008-12
期刊：
The Journal of experimental biology
影响因子：
--
作者：
Dunbar DC;Macpherson JM;Simmons RW;Zarcades A
通讯作者：
Zarcades A
影响因子：
4.6
作者：
Fukuoka Y;Habu Y;Fukui T
通讯作者：
Fukui T
影响因子：
--
作者：
Boszczyk, BM;Boszczyk, AA;Putz, R
通讯作者：
Putz, R
影响因子：
2.8
作者：
Griffin, TM;Main, RP;Farley, CT
通讯作者：
Farley, CT