Constructive
understanding of gait adaptation in split-belt locomotion of thalamic
cats
Projects
(detailed explanations at lower column)
-
(2010, 2018- ) Constructing
the model of gait adaptations of a decerebrate cat in split-belt
walking shown by Yanagihara (1994,1996)
References
- Yanagihara, D., Udo, M., Kondo, I., Yoshida, T.: A new learning
paradigm: adaptive changes in interlimb coordination during perturbed
locomotion in decerebrate cats. Neuroscience Research, vol.18,
pp.241-244, 1993.
- Yanagihara, D., Udo, M.: Climbing fiber responses in cerebellar
vermal Purkinje cells during perturbed locomotion in decerebrate cats,
Neuroscience Research, no.10, pp.245-248, 1994.
- Yanagihara, Kondo, I.:Nitric oxide plays a key role in adaptive
control of locomotion in cat. Proc. Natl Acad Sci USA 93:
pp.13292-13297, 1996.
- Fujiki, S., Aoi, S., Funato, T., Tomita, N., Senda, K., Tsuchiya K.:
Adaptation mechanism of interlimb coordination in human split-belt
treadmill walking through learning of foot contact timing: a robotics
study. J. Royal Soc. Interface vol.12, [doi:10.1098/rsif.2015.0542],
2015.
- Frigon, A., et al.: Left-right coordination from simple to extreme
conditions during split-belt locomotion in the chronic spinal adult
cat. J. Physiol. vol.595, no.1, pp.341-361, 2017.
- Aoi, S., Amano, T., Fujiki, S., Senda, K., Tsuchiya K.: Fast and
slow adaptations of interlimb coordnation via reflex and learning
during split-belt treadmill walking of a quadruped robot. Frontiers in
Robotics and AI, [doi:10.3389/frobt.2021.697612], 2021.
History and Abstract with
movies and publications
- 2021 Sep. - 2022 Jul.
Applying
the spinal cat model with responses to four-legged split-belt
locomotion
- We carried out experiments of
four-legged split-belt locomotion using the spinal cat model with
responses. By adding the leg tip velocity condition for the
activation of responses, we realized stable split-belt
locomotion similar to that of the early adaptation stage in thalamic
cats experiments by Yanagihara et al. (Neurosci. Res., 1993).
- We are trying to understand the adaptation mechanism
at the spinal cord level of thalamic cats in early adaptation of
split-belt locomotion constructively.
- 2020 Apr. - 2021 Aug.
Employing
the response mechanism into the previous spinal cat model and
comparing results with those in hindlimbs split-belt locomotion of
spinal cats
- The response adjusts the CPG phase based on sensory
input. Especially, in the case of the hip extension of a stance leg,
the phasic stretch response is activated on the leg, and also the
crossed extension response is activated on the contralateral leg.
The response adjusts the duration of the swing phase of the leg.
- We carried out experiments of split-belt locomotion
with hind legs using Kotetsu, and compared the results to those of
experiments of hindlimbs split-belt locomotion of spinal cats by
Frigon et al. (J. Phys. 2017). The patterns of changing the duration
of the stance phase, the swing phase and the step cycle according to
the increasing fast-belt speed were very similar between results of
Kotetsu and spinal cats.
- 2019 Jul. - 2020 Mar.
Constructing the model of the gait
adaptation mechanism of decerebrate cats in split-belt walking using a
quadruped robot
- We are using our original phase modulation methods
based on leg loading/unloading as the basis of the controller.
- We modified the condition for lift-off by leg
unloading while referring to the
spinal cord half-center CPG model proposed by Frigon et al.
(J. Phys. 2017).
- We added the adaptation mechanism as the model of
the motor learning by long-term depression in cerebellum.
- As a result of experiments of split-belt walking
using a quadruped robot "Kotetsu", we obtained similar gait
adaptation patterns as those of a decerebrate cat in split-belt
walking. There are two adaptations, those are early adaptation at
the spinal cord level and delayed adaptation at the cerebellum
level. However, there remained several
problems due to the insufficiency of the spinal cat model and the
motor learning method.
- In order to emulate the head constraint in
decerebrate cat experiments, Kotetsu is tethered by two strings with
springs at the top of the body in order to constrain
forward/backward motion and rotation in the horizontal plane. But
side-way motion and rolling motion is not disturbed (experimental
setup:tethered)
Results of experiments
Publications
- Kodono, K. and Kimura, Split-belt Adaptation Model of a Decerebrate
Cat Using a Quadruped Robot with Learning, Proc. of the 9th Int. Conf.
on Biomimetic and Biohybrid Systems (Living
Machines 2020), (on-line meeting), pp.217-229, 2020.7. (PDF) [https://doi.org/10.1007/978-3-030-64313-3_21]
- Kodono, K. and Kimura, H., Motion Analysis of Spinal Cat Model Using
Quadruped Robot. Proc. of Robotics and Mechatronics conf. of JSME,
1A1-E03, 2020.05 (in Japanese)
- Kodono, K. and Kimura, H., Proposal of a gait adaptation model in
split-belt walking of decerebrate cats using a quadruped robot. Proc.
of 2020 Robotics Symposia, pp.320-323, 2020.03 (in Japanese).
- Kodono, K., Morikawa, S. and Kimura, H., Autonomous gait generation
and adaptive of a quadruped robot. Proc. of Robotics and Mechatronics
conf. of JSME, 2A1-K03. 2019.06 (in Japanese)
- 2018 Oct.-2019 Mar.
Visual navigation of dynamic walking of a
untethered quadruped robot on tied & split-belt treadmill
Results of experiments
Publications
- Kodono, K. and Kimura, H., Visual navigation system for dynamic
walking of a quadruped on treadmill (in Japanese), Trans. of the
JSME(J-Stage),
vol.86, no.882, (DOI:
10.1299/transjsme.19-00316), 2020.
Photo&Movie of "Patrush" & "Tekken"
Publications of quadruped studies
