159 歩行モデルにおけるUncontrolled manifoldのフロケ理論による解析

• 白坂 将

  東京工業大学情報環境学専攻

• 紅林 亘

  青森大学ソフトウェア情報学部

• 中尾 裕也

  東京工業大学情報環境学専攻

書誌事項

タイトル別名

• 159 An analysis of the uncontrolled manifold in a dynamic walking model based on the Floquet theory

抄録

Uncontrolled manifold analysis provides the synergy index, which quantifies how well a neuro-musculo-skeletal system of an animal, characterized by redundant degrees of freedom with respect to dynamic tasks, is coordinated to maintain a task performance under the influence of perturbations such as noise. The synergy index has been estimated and analyzed for several systems from observation data, while the relation between the underlying dynamics of motions and the synergies, which possibly leads to give new insights to the control theory and the physiology, remains unexplored theoretically. Hence, in this study, we develop a method to obtain the synergy index in stable rhythmic movements subjected to weak white Gaussian noise from a model equation using the Floquet theory. The fundamental property of the Floquet vector, which is covariant with the dynamics, is utilized to uncouple the modes in the complex nonlinear dynamics of body movements. These uncoupled modes provide a semi-analytical expression of the synergy index.

収録刊行物

• 機械力学・計測制御講演論文集

  機械力学・計測制御講演論文集 2015 "159-1"-"159-8", 2015-08-25

  一般社団法人日本機械学会

キーワード

• Nonlinear Dynamics
• Nonlinear Vibration
• Self-Excited Vibration
• Random Vibration
• Biomechanics
• Bio-Motion
• Walking and gait

詳細情報

• CRID: 1573950402250336256
• NII論文ID: 110010051782
• NII書誌ID: AA11901770
• ISSN: 13480235
• 本文言語コード: ja
• データソース種別:
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