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Paper Abstract and Keywords
Presentation 2009-03-11 15:45
An analytical study of leg trajectories of Japanese monkey bipedalism
Shoko Kaichida, Yoshimitsu Hashizume (Yamaguchi Univ.), Naomichi Ogihara (Kyoto Univ.), Jun Nishii (Yamaguchi Univ.) NC2008-123
Abstract (in Japanese) (See Japanese page) 
(in English) Japanese monkeys that are skilled at bipedalism show stable walking.
However，the leg trajectories show fluctuation at every stride.
How leg trajectories of Japanese monkeysare constrained and what kind of fluctuation is allowed during biped walking?
In this study，we computed the optimal trajectory which minimizes
the energy cost during leg swing.
The characteristics of the computed trajectory were in good agreement with
the leg swing of Japanese monkeys．Furthermore，we found that the variance of joint angles becomes small from the end of swing to the touch-down，and the variance of relative height of the toe to the hip was kept low by a joint coordination.
Keyword (in Japanese) (See Japanese page) 
(in English) Japanese monkey / walking / optimality / energy cost / joint coordination / synergy / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 480, NC2008-123, pp. 117-122, March 2009.
Paper # NC2008-123 
Date of Issue 2009-03-04 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF NC2008-123

Conference Information
Committee NC MBE  
Conference Date 2009-03-11 - 2009-03-13 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2009-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) An analytical study of leg trajectories of Japanese monkey bipedalism 
Sub Title (in English)  
Keyword(1) Japanese monkey  
Keyword(2) walking  
Keyword(3) optimality  
Keyword(4) energy cost  
Keyword(5) joint coordination  
Keyword(6) synergy  
Keyword(7)  
Keyword(8)  
1st Author's Name Shoko Kaichida  
1st Author's Affiliation Graduate School of Science and Engineering, Yamaguchi University (Yamaguchi Univ.)
2nd Author's Name Yoshimitsu Hashizume  
2nd Author's Affiliation Graduate School of Science and Engineering, Yamaguchi University (Yamaguchi Univ.)
3rd Author's Name Naomichi Ogihara  
3rd Author's Affiliation Graduate School of Science, Kyoto University (Kyoto Univ.)
4th Author's Name Jun Nishii  
4th Author's Affiliation Graduate School of Science and Engineering, Yamaguchi University (Yamaguchi Univ.)
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Speaker Author-1 
Date Time 2009-03-11 15:45:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2008-123 
Volume (vol) vol.108 
Number (no) no.480 
Page pp.117-122 
#Pages 6 
Date of Issue 2009-03-04 (NC) 

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