偶蹄類における頸部筋骨格構造の進化

学位の種別: 課程博士審査委員会委員 : （主査）東京大学教授 遠藤 秀紀, 東京大学教授 杉浦 勝明, 東京大学教授 山川 隆, 東京大学准教授 斎藤 幸恵, 東京大学准教授 松本 安喜University of Tokyo(東京大学

Estimating Body Stiffness in Quadrupedal Locomotion using the Flexible Shoulder as a Physical Reservoir

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P1

Emergence of swing-to-stance transition from interlocking mechanism in horse hindlimb

The bodies of quadrupeds have very complex muscle-tendon structure. In particular, it is known that in the horse hindlimb, multiple joints in the leg are remarkably interlocked due to the muscle-tendon structure. Although the function of these interlocking mechanisms during standing has been investigated in the field of anatomy, the function related to the emergence of limb trajectory during dynamic walking has not been revealed. To investigate the role of the interlocking mechanism, we developed a robot model imitating the muscle-tendon arrangement and the dynamics of a horse hindlimb. In the walking experiment, the robot autonomously generated a limb trajectory with a smooth transition between the swing phase and the stance phase by simply swinging the hip joint with sinusoidal input. Moreover, we compared the joint angles between successful and failed walking. The compared results indicate that the extension of the fetlock joint after hoof touchdown plays the crucial role in emergence of a function of supporting body.K. Miyashita, Y. Masuda, M. Gunji, A. Fukuhara, K. Tadakuma and M. Ishikawa, "Emergence of Swing-to-Stance Transition from Interlocking Mechanism in Horse Hindlimb," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 7860-7865, doi: 10.1109/IROS45743.2020.9341026

Kinesthetic Sensing Exploiting the Active Interaction between the Environment and an Ostrich-Neck-inspired Manipulator

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P1

Comprehensive Robot Model Based on Horse Anatomy : Towards Understanding the Passive Dynamics of Limbs

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P1

問1 古典的比較解剖学の現在地 : 異種の身体構造を知るとは?

『といとうとい』Vol.0掲載記事「古典的比較解剖学の現在地 : 異種の身体構造を知るとは?」を英語訳したも

Simulation study on a galloping quadruped robot with a flexible shoulder hammock structure

The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee

Simulation of quadruped robot walking considering anatomical features of distal forelimb

The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee

Toward understanding design principle of polysemantic body underlying animal’s versatile behaviors

The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee