Simulating adaptive human bipedal locomotion based on phase resetting using foot-contact information

Shinya Aoi, Naomichi Ogihara, Yasuhiro Sugimoto, Kazuo Tsuchiya

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


Humans generate bipedal walking by cooperatively manipulating their complicated and redundant musculoskeletal systems to produce adaptive behaviors in diverse environments. To elucidate the mechanisms that generate adaptive human bipedal locomotion, we conduct numerical simulations based on a musculoskeletal model and a locomotor controller constructed from anatomical and physiological findings. In particular, we focus on the adaptive mechanism using phase resetting based on the foot-contact information that modulates the walking behavior. For that purpose, we first reconstruct walking behavior from the measured kinematic data. Next, we examine the roles of phase resetting on the generation of stable locomotion by disturbing the walking model. Our results indicate that phase resetting increases the robustness of the walking behavior against perturbations, suggesting that this mechanism contributes to the generation of adaptive human bipedal locomotion.

Original languageEnglish
Pages (from-to)1697-1713
Number of pages17
JournalAdvanced Robotics
Issue number15
Publication statusPublished - 2008 Oct 1
Externally publishedYes


  • Adaptability
  • Central pattern generator
  • Foot-contact information
  • Musculoskeletal model
  • Numerical simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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