Abstract
Computer simulation method allows us to examine conditions that are difficult to realize experimentally using actual subjects including animals. The purpose of this study was to develop a dynamical simulation of quadruped locomotion by Japanese macaque. Phase oscillator models were introduced in order to control basic locomotion phase of four limbs. Mechanical properties of the body were represented by a 15-rigid-link model with 24 degrees of freedom. The proposed simulation model could synthesize transitions of locomotion patterns from the forward to the backward cross types according to position of the center of gravity in the whole body. Simulated ground reaction force patterns closely agreed with those collected from actual Japanese macaque.
