生体に基づいた 2 足歩行シミュレーションの研究

Abstract

The human body is a highly redundant system. In the human body, joint degree of freedom (DOF) is redundant and muscle DOF is also redundant, because too many joints and muscles exist in the human body. Then it is easy to represent the human bipedal locomotion using known muscles activity, but it is difficult to estimate activity of each muscle using observed data of bipedal locomotion. In this paper we try to estimate each muscle activity in a bipedal locomotion. At the first step of our study we estimated each joint torque from observed motion of human body on bipedal locomotion. The second step we distributed each joint torque to the muscles force using genetic algorithm. Our simulated results is well corresponded to known muscles activity.