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

Miyashita, Kazuhiro; Masuda, Yoichi; Gunji, Megu; Fukuhara, Akira; Tadakuma, Kenjiro; Ishikawa, Masato

doi:https://doi.org/10.1109/IROS45743.2020.9341026

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

Miyashita, Kazuhiro; Masuda, Yoichi; Gunji, Megu et al.

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, 7860-7865

Number of Access:754（2025-08-22 06:15 Counts）

Identifier to cite or link to this item: https://hdl.handle.net/11094/90043

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Title	Emergence of swing-to-stance transition from interlocking mechanism in horse hindlimb
Creator	CreatorName Miyashita, Kazuhiro
	NRID 1000070849760 1000070849760 researchmap permalink yoichi_masuda yoichi_masuda Scopus Author ID 57189218575 57189218575 CreatorName Masuda, Yoichi
	NRID 1000080833839 1000080833839 CreatorName Gunji, Megu
	NRID 1000010827611 1000010827611 CreatorName Fukuhara, Akira
	NRID 1000030508833 1000030508833 CreatorName Tadakuma, Kenjiro
	NRID 1000020323826 1000020323826 researchmap permalink masato_ishikawa masato_ishikawa Scopus Author ID 35302467800 35302467800 CreatorName Ishikawa, Masato
Subject	Legged locomotion
	Robot motion
	Trajectory
	Hip
	Intelligent robots
	Tendons
	gait analysis
	legged locomotion
	motion control
	muscle
	robot dynamics
	swing-to-stance transition
	interlocking mechanism
	horse hindlimb
	muscle-tendon structure
	multiple joints
	limb trajectory
	dynamic walking
	muscle-tendon arrangement
	swing phase
	stance phase
	hip joint
	quadrupeds
Description	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.
Abstract	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.
Conference Information	Conference Name IEEE International Workshop on Intelligent Robots and Systems (IROS) Conference Date October 25th, 2020 to January 24th, 2021 Conference Venue Caesars Forum Conference Place Las Vegas Conference Country United States of America
Publisher	IEEE
Source Title	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Page	7860-7865
Date of Issued	2021-02-10
Language	English
Handle URL	https://hdl.handle.net/11094/90043
PISSN	21530858
eISSN	21530866
Relation.isVersionOf	DOI (Publisher Version) https://doi.org/10.1109/IROS45743.2020.9341026
Relation.isIdenticalTo	ISBN 9781728162126
Access Rights	open access
CopyRight	© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
oaire:version	Accepted Manuscript
Category	会議発表論文 Conference Paper

Resource Type	conference paper
Local Type	Conference Paper
DCMI Type	Text
DCTERMS.bibliographicCitation	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021, p. 7860-7865
DC.title	Emergence of swing-to-stance transition from interlocking mechanism in horse hindlimb
DC.creator	Miyashita, Kazuhiro
	Masuda, Yoichi
	Gunji, Megu
	Fukuhara, Akira
	Tadakuma, Kenjiro
	Ishikawa, Masato
DC.publisher	IEEE
DC.language' scheme='DCTERMS.RFC1766	English
DC.type' scheme='DCTERMS.DCMIType	Text
DCTERMS.issued' scheme='DCTERMS.W3CDTF	2021-02-10
DC.identifier	https://doi.org/10.1109/IROS45743.2020.9341026
DC.subject	Legged locomotion
	Robot motion
	Trajectory
	Hip
	Intelligent robots
	Tendons
	gait analysis
	legged locomotion
	motion control
	muscle
	robot dynamics
	swing-to-stance transition
	interlocking mechanism
	horse hindlimb
	muscle-tendon structure
	multiple joints
	limb trajectory
	dynamic walking
	muscle-tendon arrangement
	swing phase
	stance phase
	hip joint
	quadrupeds
DC.description	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.
DCTERMS.abstract	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.
DC.rights	© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
DC.format	90043
citation_title	Emergence of swing-to-stance transition from interlocking mechanism in horse hindlimb
citation_author	Miyashita, Kazuhiro
	Masuda, Yoichi
	Gunji, Megu
	Fukuhara, Akira
	Tadakuma, Kenjiro
	Ishikawa, Masato
citation_publisher	IEEE
citation_language	English
citation_date	2021-02-10
citation_journal_title	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
citation_firstpage	7860
citation_lastpage	7865
citation_doi	https://doi.org/10.1109/IROS45743.2020.9341026
citation_public_url	https://hdl.handle.net/11094/90043

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

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