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Fujii K, Yoshihara Y, Tanabe H, et al. Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model. Front Hum Neurosci. 2017;11:298doi: 10.3389/fnhum.2017.00298.
Fujii, K., Yoshihara, Y., Tanabe, H., & Yamamoto, Y. (2017). Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model. Frontiers in human neuroscience, 11298. https://doi.org/10.3389/fnhum.2017.00298
Fujii, Keisuke, et al. "Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model." Frontiers in human neuroscience vol. 11 (2017): 298. doi: https://doi.org/10.3389/fnhum.2017.00298
Fujii K, Yoshihara Y, Tanabe H, Yamamoto Y. Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model. Front Hum Neurosci. 2017 Jun 07;11:298. doi: 10.3389/fnhum.2017.00298. eCollection 2017. PMID: 28638333; PMCID: PMC5461270.
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Front Hum Neurosci. 2017 Jun 07;11:298. doi: 10.3389/fnhum.2017.00298. eCollection 2017.

Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model.

Frontiers in human neuroscience

Keisuke Fujii, Yuki Yoshihara, Hiroko Tanabe, Yuji Yamamoto

Affiliations

  1. Structured Learning Team, Center for Advanced Intelligence Project, Institute of Physical and Chemical Research (RIKEN)Suita, Japan.
  2. Intelligence Mobility Group, Institutes of Innovation for Future Society, Nagoya UniversityNagoya, Japan.
  3. Graduate School of Arts and Sciences, University of TokyoTokyo, Japan.
  4. Research Center of Health Physical Fitness and Sports, Nagoya UniversityNagoya, Japan.

PMID: 28638333 PMCID: PMC5461270 DOI: 10.3389/fnhum.2017.00298

Abstract

Humans can adapt to abruptly changing situations by coordinating redundant components, even in bipedality. Conventional adaptability has been reproduced by various computational approaches, such as optimal control, neural oscillator, and reinforcement learning; however, the adaptability in bipedal locomotion necessary for biological and social activities, such as unpredicted direction change in chase-and-escape, is unknown due to the dynamically unstable multi-link closed-loop system. Here we propose a switching adaptation model for performing bipedal locomotion by improving autonomous distributed control, where autonomous actuators interact without central control and switch the roles for propulsion, balancing, and leg swing. Our switching mobility model achieved direction change at any time using only three actuators, although it showed higher motor costs than comparable models without direction change. Our method of evaluating such adaptation at any time should be utilized as a prerequisite for understanding universal motor control. The proposed algorithm may simply explain and predict the adaptation mechanism in human bipedality to coordinate the actuator functions within and between limbs.

Keywords: autonomous distributed control; closed-loop system; flexible bipedal locomotion; multi-link system; sensory-motor system

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