Evaluating alternative gait strategies using evolutionary robotics

Evolutionary robitics is a branch of artificial intelligence concerned with the automatic generation of autonomous robots. Usually the form of the robit is predefined an various computational techniques are used to control the machine's behaviour. One aspect is the spontaneous generation of walking in legged robots and this can be used to investigate the mechanical requiements for efficient walking in bipeds. This paper demonstrates a bipedal simulator that spontaneously generates walking and running gaits. The model can be customized to represent a range of hominoid morphologies and used to predict performance paramets such as preferred speed and metabolic energy cost. Because it does not require any motion capture data it is particularly suitable for investigating locomotion in fossil animals. The predictoins for modern humans are highly accurate in terms of energy cost for a given speend and thus the values predicted for other bipeds are likely to be good estimates. To illustrate this the cost of transport is calculated for Australopithecus afarensis. The model allows the degree of maximum extension at the knee to be varied causing the model to adopt walking gaits varying from chimpanzee-like to human=like. The energy costs associated with these gait choices can thus be calculated and this information used to evaluate possible locomotor strategies in early hominids

Learning from falling.

Walkers fall frequently, especially during infancy. Children (15-, 21-, 27-, 33-, and 39-month-olds) and adults were tested in a novel foam pit paradigm to examine age-related changes in the relationship between falling and prospective control of locomotion. In trial 1, participants walked and fell into a deformable foam pit marked with distinct visual cues. Although children in all 5 age groups required multiple trials to learn to avoid falling, the number of children who showed adult-like, 1-trial learning increased with age. Exploration and alternative locomotor strategies increased dramatically on learning criterion trials and displays of negative affect were limited. Learning from falling is discussed in terms of the immediate and long-term effects of falling on prospective control of locomotion.

Parâmetros cinemáticos da marcha com obstáculos em idosos com Doença de Parkinson, com e sem efeito da levodopa: um estudo piloto

CONTEXTO: Os efeitos da levodopa na marcha de pacientes com Doença de Parkinson (DP) em terrenos desobstruídos são conhecidos, mas pouco se conhece sobre seus efeitos na marcha com obstáculos. OBJETIVO: Este estudo objetivou descrever, por meio de ferramenta cinemática, o comportamento locomotor de pacientes com DP e verificar as estratégias locomotoras, sem e sob o efeito da levodopa, durante a ultrapassagem de obstáculos de diferentes alturas. MÉTODO: Cinco pacientes com DP (Hoehn e Yahr= 2±0; idade= 68,4±5,7 anos) percorreram, andando, 10m e ultrapassaram um de dois obstáculos (alto= metade da altura do joelho e baixo= altura do tornozelo) posicionado no meio da passarela em duas sessões (em jejum e no pico de ação do medicamento). As seguintes variáveis foram coletadas e analisadas: distância horizontal pé-obstáculo (DHPO), distância vertical pé-obstáculo (DVPO); distância horizontal obstáculo-pé (DHOP) e velocidades médias, horizontais e verticais, nas fases de abordagem e aterrissagem (respectivamente, VHAO,VVAO; VHDO,VVDO). RESULTADOS: A ANOVA, por tentativa, revelou efeito principal de obstáculo para DVPO (F1,49=15,33; p< 0,001), para VVAO (F1,49= 82,184; p< 0,001), para VHDO (F1,49= 15,33; p< 0,001) e para VVDO (F1,49= 31,30; p< 0,001); e efeito principal de medicamento para DVPO (F1,49= 6,66; p< 0,013) e para VVAO (F1,49= 10,174; p< 0,002). CONCLUSÕES: Pacientes foram mais perturbados pelo obstáculo alto. Os sintomas da DP (bradicinesia e hipocinesia) foram diminuídos com o medicamento, evidenciando aumento geral da velocidade da perna de abordagem e da margem de segurança sobre os obstáculos. Pacientes com DP, independente da condição de medicamento, apresentaram um comportamento que garantiu segurança e estabilidade na marcha.

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.

Estratégias adaptativas da locomoção na ultrapassagem de obstáculo móvel

Pós-graduação em Ciências da Motricidade - IBRC