Adaptive Locomotion for Crossing a Moving Obstacle

Crossing moving obstacles requires different space-time adjustments compared with stationary obstacles. Our aim was to investigate gait spatial and temporal parameters in the approach and crossing phases of a moving obstacle. We hypothesized that obstacle speed affects gait parameters, which allow us to distinguish locomotor strategies. Ten young adults walked and stepped over an obstacle that crossed their way perpendicularly, under three obstacle conditions: control-stationary obstacle, slow (1.07 m/s) and fast speed (1.71 m/s) moving obstacles. Gait parameters were different between obstacle conditions, especially on the slow speed. In the fast condition, the participants adopted predictive strategies during the approach and crossing phases. In the slow condition, they used an anticipatory strategy in both phases. We conclude that obstacle speed affects the locomotor behavior and strategies were distinct in the obstacle avoidance phases.

Do men and women use similar adaptive locomotion to clear static and dynamic obstacles?

Purpose. The purpose of this study was to analyze the influence of gender on the adaptive locomotion in the clearance of obstacles. Specifically, it was evaluated if there are differences in the space-temporal parameters between male and female in the clearance of and dynamic obstacles moving at both slow and fast speeds. Basic procedures. Five young male adults and five young female adults took part in this study. The task was performed in three conditions: static obstacle and dynamic obstacle - clearance perpendicular to the participant's trajectory at slow speed (1.07 m/s) and at fast speed (1.71 m/s). The trials were recorded by two digital cameras and spatial-temporal information was obtained. Main findings. The dynamic obstacle conditions required more visual inspection. The results showed different adaptive locomotion between the sexes. The distinct gait patterns were evidenced for the spatial and temporal variables and cadence in the three conditions. Conclusions. The women presented a more conservative behavior, which was evidenced by the increase of the length in the penultimate step and in the toe clearance.

Um novo gerador central de padrões de locomoção para geração de trajectórias em tempo real de robôs quadrúpedes

Neste trabalho estuda-se a geração de trajectórias em tempo real de um robô quadrúpede. As trajectórias podem dividir-se em duas componentes: rítmica e discreta. A componente rítmica das trajectórias é modelada por uma rede de oito osciladores acoplados, com simetria 4 2 Z  Z . Cada oscilador é modelado matematicamente por um sistema de Equações Diferenciais Ordinárias. A referida rede foi proposta por Golubitsky, Stewart, Buono e Collins (1999, 2000), para gerar os passos locomotores de animais quadrúpedes. O trabalho constitui a primeira aplicação desta rede à geração de trajectórias de robôs quadrúpedes. A derivação deste modelo baseia-se na biologia, onde se crê que Geradores Centrais de Padrões de locomoção (CPGs), constituídos por redes neuronais, geram os ritmos associados aos passos locomotores dos animais. O modelo proposto gera soluções periódicas identificadas com os padrões locomotores quadrúpedes, como o andar, o saltar, o galopar, entre outros. A componente discreta das trajectórias dos robôs usa-se para ajustar a parte rítmica das trajectórias. Este tipo de abordagem é útil no controlo da locomoção em terrenos irregulares, em locomoção guiada (por exemplo, mover as pernas enquanto desempenha tarefas discretas para colocar as pernas em localizações específicas) e em percussão. Simulou-se numericamente o modelo de CPG usando o oscilador de Hopf para modelar a parte rítmica do movimento e um modelo inspirado no modelo VITE para modelar a parte discreta do movimento. Variou-se o parâmetro g e mediram-se a amplitude e a frequência das soluções periódicas identificadas com o passo locomotor quadrúpede Trot, para variação deste parâmetro. A parte discreta foi inserida na parte rítmica de duas formas distintas: (a) como um offset, (b) somada às equações que geram a parte rítmica. Os resultados obtidos para o caso (a), revelam que a amplitude e a frequência se mantêm constantes em função de g. Os resultados obtidos para o caso (b) revelam que a amplitude e a frequência aumentam até um determinado valor de g e depois diminuem à medida que o g aumenta, numa curva quase sinusoidal. A variação da amplitude das soluções periódicas traduz-se numa variação directamente proporcional na extensão do movimento do robô. A velocidade da locomoção do robô varia com a frequência das soluções periódicas, que são identificadas com passos locomotores quadrúpedes.

Effects of obstacle height on obstacle crossing in mild Parkinson's disease

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Mobilidade funcional em indivíduos com paralisia cerebral espástica

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Nitric oxide plays a key role in adaptive control of locomotion in cat

Diverse roles in cellular functions have been ascribed to nitric oxide (NO), and its involvement in induction of long-term depression in cerebellar Purkinje cells has been demonstrated. Manipulations of NO concentration or its synthesis in cerebellar tissues therefore provide a means for investigating roles of NO in cerebellar functions at both cellular and behavioral levels. We tested adaptive control of locomotion to perturbation in cats, and found that this form of motor learning was abolished by application of either an inhibitor of NO synthase or a scavenger of NO to the cerebellar cortical locomotion area. This finding supports the view that NO in the cerebellum plays a key role in motor learning.

Visual Feedforward Control in Human Locomotion During Avoidance of Obstacles that Change Size

The purpose of the current study was to understand how visual information about an ongoing change in obstacle size is used during obstacle avoidance for both lead and trail limbs. Participants were required to walk in a dark room and to step over an obstacle edged with a special tape visible in the dark. The obstacle's dimensions were manipulated one step before obstacle clearance by increasing or decreasing its size. Two increasing and two decreasing obstacle conditions were combined with seven control static conditions. Results showed that information about the obstacle's size was acquired and used to modulate trail limb trajectory, but had no effect on lead limb trajectory. The adaptive step was influenced by the time available to acquire and process visual information. In conclusion, visual information about obstacle size acquired during lead limb crossing was used in a feedforward manner to modulate trail limb trajectory.

Fractional central pattern generators for bipedal locomotion

Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.

Adaptive Regelung von Robotersystemen in Kontaktaufgaben

Contact Tasks of Robotic Systems, Mobile Legged Robots, Industrial Manipulators, Service Operations, Robot's Locomotion, Adaptive Control, Impedance/Force Control

Head shape evolution in Tropidurinae lizards: does locomotion constrain diet?

Different components of complex integrated systems may be specialized for different functions, and thus the selective pressures acting on the system as a whole may be conflicting and can ultimately constrain organismal performance and evolution. The vertebrate cranial system is one of the most striking examples of a complex system with several possible functions, being associated to activities as different as locomotion, prey capture, display and defensive behaviours. Therefore, selective pressures on the cranial system as a whole are possibly complex and may be conflicting. The present study focuses on the influence of potentially conflicting selective pressures (diet vs. locomotion) on the evolution of head shape in Tropidurinae lizards. For example, the expected adaptations leading to flat heads and bodies in species living on vertical structures may conflict with the need for improved bite performance associated with the inclusion of hard or tough prey into the diet, a common phenomenon in Tropidurinae lizards. Body size and six variables describing head shape were quantified in preserved specimens of 23 species, and information on diet and substrate usage was obtained from the literature. No phylogenetic signal was observed in the morphological data at any branch length tested, suggesting adaptive evolution of head shape in Tropidurinae. This pattern was confirmed by both factor analysis and independent contrast analysis, which suggested adaptive co-variation between the head shape and the inclusion of hard prey into the diet. In contrast to our expectations, habitat use did not constrain or drive head shape evolution in the group.

Optic Flow Contribution to Locomotion Adjustments in Obstacle Avoidance

Locomotion generates a visual movement pattern characterized as optic flow. To explore how the locomotor adjustments are affected by this pattern, an experimental paradigm was developed to eliminate optic flow during obstacle avoidance. The aim was to investigate the contribution of optic flow in obstacle avoidance by using a stroboscopic lamp. Ten young adults walked on an 8m pathway and stepped over obstacles at two heights. Visual sampling was determined by a stroboscopic lamp (static and dynamic visual sampling). Three-dimensional kinematics data showed that the visual information about self-motion provided by the optic flow was crucial for estimating the distance from and the height of the obstacle. Participants presented conservative behavior for obstacle avoidance under experimental visual sampling conditions, which suggests that optic flow favors the coupling of vision to adaptive behavior for obstacle avoidance.

Wavelets And Adaptive Grids For The Discontinuous Galerkin Method

In this paper, space adaptivity is introduced to control the error in the numerical solution of hyperbolic systems of conservation laws. The reference numerical scheme is a new version of the discontinuous Galerkin method, which uses an implicit diffusive term in the direction of the streamlines, for stability purposes. The decision whether to refine or to unrefine the grid in a certain location is taken according to the magnitude of wavelet coefficients, which are indicators of local smoothness of the numerical solution. Numerical solutions of the nonlinear Euler equations illustrate the efficiency of the method. © Springer 2005.

Adaptive Immunity against Leishmania Nucleoside Hydrolase Maps Its C-Terminal Domain as the Target of the CD4+ T Cell-Driven Protective Response

Nucleoside hydrolases (NHs) show homology among parasite protozoa, fungi and bacteria. They are vital protagonists in the establishment of early infection and, therefore, are excellent candidates for the pathogen recognition by adaptive immune responses. Immune protection against NHs would prevent disease at the early infection of several pathogens. We have identified the domain of the NH of L. donovani (NH36) responsible for its immunogenicity and protective efficacy against murine visceral leishmaniasis (VL). Using recombinant generated peptides covering the whole NH36 sequence and saponin we demonstrate that protection against L. chagasi is related to its C-terminal domain (amino-acids 199-314) and is mediated mainly by a CD4+ T cell driven response with a lower contribution of CD8+ T cells. Immunization with this peptide exceeds in 36.73 +/- 12.33% the protective response induced by the cognate NH36 protein. Increases in IgM, IgG2a, IgG1 and IgG2b antibodies, CD4+ T cell proportions, IFN-gamma secretion, ratios of IFN-gamma/IL-10 producing CD4+ and CD8+ T cells and percents of antibody binding inhibition by synthetic predicted epitopes were detected in F3 vaccinated mice. The increases in DTH and in ratios of TNF alpha/IL-10 CD4+ producing cells were however the strong correlates of protection which was confirmed by in vivo depletion with monoclonal antibodies, algorithm predicted CD4 and CD8 epitopes and a pronounced decrease in parasite load (90.5-88.23%; p = 0.011) that was long-lasting. No decrease in parasite load was detected after vaccination with the N-domain of NH36, in spite of the induction of IFN-gamma/IL-10 expression by CD4+ T cells after challenge. Both peptides reduced the size of footpad lesions, but only the C-domain reduced the parasite load of mice challenged with L. amazonensis. The identification of the target of the immune response to NH36 represents a basis for the rationale development of a bivalent vaccine against leishmaniasis and for multivalent vaccines against NHs-dependent pathogens.

Cardiovascular adaptive responses in rats submitted to moderate resistance training

The present study investigated the effects of 8 week of resistance training (RT) on hemodynamic and ventricular function on cardiac myosin ATPase activity, and on contractility of papillary muscles of rats. Groups: control (CO), electrically stimulated (ES), trained at 60% (TR 60%) and 75% of one repetition maximum (1RM) (TR 75%). Exercise protocol: 5 sets of 12 repetitions at 60 and 75% of 1RM, 5 times per week. The CO and ES groups had similar values for parameters analyzed (P > 0.05). Blood pressure (BP), heart rate (13%), left ventricle systolic pressure (LVSP 13%) decreased and cardiac myosin ATPase activity increased in the TR 75% group (90%, P < 0.05). The contractile performance of papillary muscles increased in trained rats (P < 0.05). Eight weeks of RT was associated with lowering of resting BP, heart rate and LVSP, improvements in contractility of the papillary muscle and an increase of cardiac myosin ATPase activity in rats.

Constant-random practice and the adaptive process in motor learning with varying amounts of constant practice

The adaptive process in motor learning was examined in terms of effects of varying amounts of constant practice performed before random practice. Participants pressed five response keys sequentially, the last one coincident with the lighting of a final visual stimulus provided by a complex coincident timing apparatus. Different visual stimulus speeds were used during the random practice. 33 children (M age=11.6 yr.) were randomly assigned to one of three experimental groups: constant-random, constant-random 33%, and constant-random 66%. The constant-random group practiced constantly until they reached a criterion of performance stabilization three consecutive trials within 50 msec. of error. The other two groups had additional constant practice of 33 and 66%, respectively, of the number of trials needed to achieve the stabilization criterion. All three groups performed 36 trials under random practice; in the adaptation phase, they practiced at a different visual stimulus speed adopted in the stabilization phase. Global performance measures were absolute, constant, and variable errors, and movement pattern was analyzed by relative timing and overall movement time. There was no group difference in relation to global performance measures and overall movement time. However, differences between the groups were observed on movement pattern, since constant-random 66% group changed its relative timing performance in the adaptation phase.