Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections
Humans have whole-body viscoelastic connections called anatomy trains (ATs), which include multiple muscles and connective tissues. ATs are expected to realize coordinated motion in passive dynamic walkers with a large number of joints. However, the details of how the coordinated motion is realized...
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2025-01-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/91/941/91_24-00205/_pdf/-char/en |
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| _version_ | 1832584932378017792 |
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| author | Hiroki NISHII Yusuke TSUNODA Hisashi ISHIHARA Teruyo WADA Koichi OSUKA |
| author_facet | Hiroki NISHII Yusuke TSUNODA Hisashi ISHIHARA Teruyo WADA Koichi OSUKA |
| author_sort | Hiroki NISHII |
| collection | DOAJ |
| description | Humans have whole-body viscoelastic connections called anatomy trains (ATs), which include multiple muscles and connective tissues. ATs are expected to realize coordinated motion in passive dynamic walkers with a large number of joints. However, the details of how the coordinated motion is realized are not fully understood. In this paper, we propose a mathematical model of a quasi-passive dynamic walker with whole-body viscoelastic connections inspired by the AT theory, and investigate how the connections improve the walking performance in numerical simulation. We introduced a tension transmission line that connects from the foot to the head, modeled after one of human ATs, the superficial back line (SBL), into the mathematical model of a conventional passive walker. The important features of this whole-body line are that the tension transmission function of the line can be instantly switched on/off by a controller that contracts and relaxes the line, and that the line in a contracted state mechanically interacts with the whole-body joints, depending on the spring constant of the line and the posture of the whole body. The simulation results indicate that the walking performance, i.e., the step count, can be improved under the specific combinations of the spring constant and the on/off timing of the whole-body line. These results suggest a method for tuning the SBL to improve the step count, based on the step count and how posture is disrupted. By accumulating insights through both simulations using this mathematical model and experiments with physical robots, while cross-referencing these approaches, it is anticipated that this will eventually contribute to theoretical analysis in the future. |
| format | Article |
| id | doaj-art-71c961ce75474266b1e121ee8d6768f9 |
| institution | Kabale University |
| issn | 2187-9761 |
| language | Japanese |
| publishDate | 2025-01-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj-art-71c961ce75474266b1e121ee8d6768f92025-01-27T08:34:35ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612025-01-019194124-0020524-0020510.1299/transjsme.24-00205transjsmeMathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile ConnectionsHiroki NISHII0Yusuke TSUNODA1Hisashi ISHIHARA2Teruyo WADA3Koichi OSUKA4Graduate School of Engineering, Osaka UniversityGraduate School of Engineering, University of HyogoGraduate School of Engineering, Osaka UniversityGraduate School of Engineering, Osaka UniversityGraduate School of Engineering, Osaka UniversityHumans have whole-body viscoelastic connections called anatomy trains (ATs), which include multiple muscles and connective tissues. ATs are expected to realize coordinated motion in passive dynamic walkers with a large number of joints. However, the details of how the coordinated motion is realized are not fully understood. In this paper, we propose a mathematical model of a quasi-passive dynamic walker with whole-body viscoelastic connections inspired by the AT theory, and investigate how the connections improve the walking performance in numerical simulation. We introduced a tension transmission line that connects from the foot to the head, modeled after one of human ATs, the superficial back line (SBL), into the mathematical model of a conventional passive walker. The important features of this whole-body line are that the tension transmission function of the line can be instantly switched on/off by a controller that contracts and relaxes the line, and that the line in a contracted state mechanically interacts with the whole-body joints, depending on the spring constant of the line and the posture of the whole body. The simulation results indicate that the walking performance, i.e., the step count, can be improved under the specific combinations of the spring constant and the on/off timing of the whole-body line. These results suggest a method for tuning the SBL to improve the step count, based on the step count and how posture is disrupted. By accumulating insights through both simulations using this mathematical model and experiments with physical robots, while cross-referencing these approaches, it is anticipated that this will eventually contribute to theoretical analysis in the future.https://www.jstage.jst.go.jp/article/transjsme/91/941/91_24-00205/_pdf/-char/enanatomy trainsquasi-passive dynamic walkingmathematical modelmusculoskeletal robothumanoidnumerical simulation |
| spellingShingle | Hiroki NISHII Yusuke TSUNODA Hisashi ISHIHARA Teruyo WADA Koichi OSUKA Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections Nihon Kikai Gakkai ronbunshu anatomy trains quasi-passive dynamic walking mathematical model musculoskeletal robot humanoid numerical simulation |
| title | Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections |
| title_full | Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections |
| title_fullStr | Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections |
| title_full_unstemmed | Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections |
| title_short | Mathematical Modeling of a Quasi-passive Dynamic Walker with Whole-body Tensile Connections |
| title_sort | mathematical modeling of a quasi passive dynamic walker with whole body tensile connections |
| topic | anatomy trains quasi-passive dynamic walking mathematical model musculoskeletal robot humanoid numerical simulation |
| url | https://www.jstage.jst.go.jp/article/transjsme/91/941/91_24-00205/_pdf/-char/en |
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