A model of bipedal walking in unpredictably changing environment

Nozomi TOMITA; Masafumi YANO

doi:10.11499/sicep.2004.0.2.1

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0.2.1

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

A model of bipedal walking in unpredictably changing environment

*Nozomi TOMITA, Masafumi YANO

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Pages 2

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Abstract

The descending two major pathways from a basal ganglia-brainstem-midbrain control the activity of muscle tone and the locomotion executing system. We have modeled a bipedal walking system with these two pathways and demonstrated that the bipedal locomotion is flexibly organized by integrating the two pathways, which is more adaptable to the changes of the environment than the other CPG models.

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