Browse > Article

Evolution of Human Locomotion: A Computer Simulation Study  

엄광문 (건국대학교 의과대학 의학공학부)
하세카즈노리 (일본 나고야대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.5, 2004 , pp. 188-202 More about this Journal
Abstract
This research was designed to investigate biomechanical aspects of the evolution based on the hypothesis of dynamic cooperative interactions between the locomotion pattern and the body shape in the evolution of human bipedal walking The musculoskeletal model used in the computer simulation consisted of 12 rigid segments and 26 muscles. The nervous system was represented by 18 rhythmic pattern generators. The genetic algorithm was employed based on the natural selection theory to represent the evolutionary mechanism. Evolutionary strategy was assumed to minimize the cost function that is weighted sum of the energy consumption, the muscular fatigue and the load on the skeletal system. The simulation results showed that repeated manipulations of the genetic algorithm resulted in the change of body shape and locomotion pattern from those of chimpanzee to those of human. It was suggested that improving locomotive efficiency and the load on the musculoskeletal system are feasible factors driving the evolution of the human body shape and the bipedal locomotion pattern. The hypothetical evolution method employed in this study can be a new powerful tool for investigation of the evolution process.
Keywords
bipedal walking; evolution; locomotion pattern; body shape; neuromusculoskeletal model;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Taga, G., 'A model of the neuro-musculo-skeletal system for human locomotion. Ⅰ.Emergence of basic gait,' Biol. Cybern., Vol. 73, pp. 97-111, 1995   DOI
2 Fujimoto, Y. and Kawamura, A., 'Three dimensional digital simulation and autonomous walking control for eight-axis biped robot,' IEEE Int. Conf. on Robotics and Automation, pp. 2877-2884, 1995   DOI
3 北野宏明, '遺專的アルゴリズム,' ISBN:4782851367, 産業圖緖, 1993
4 Ackley, D. and Littman, M., 'Interactions between learning and evolution,' in Artificial Life II, C. G. Langton et al. Eds., Addison Wesley, pp. 487-509, 1992
5 Hatze, H. and Buys, J.D., 'Energy-optimal controls in the mammalian neuromuscular system,' Biol. Cybern., Vol. 27, pp.9-20, 1977   DOI
6 Crowninshield, R.D. and Brand, R.A., 'A physiologically based criterion of muscle force prediction in locomotion,' J. Biomechanics, Vol. 14, pp. 793-801, 1981   DOI   ScienceOn
7 Goldberg, D.E., Genetic Algorithms in Search, Optimization and Machine Learning, Addison Wesley, 1989
8 Wang, W.J., Crompton, R.H., Li, Y. and Gunther, M.M., 'Energy transformation during erect and 'bent-hip, bent-knee' walking by humans with implications for the evolution of bipedalism,' J. Hum. Evol., Vol.44, pp.563-579, 2003   DOI   ScienceOn
9 Gabrielle, G. and Karman, T.V., 'What price speed,' Mechanical Engineering, Vol.72, pp.775-781, 1950
10 Yamazaki, N., 'Primate bipedal walking: computer simulation,' in Primate Morphophysiology Locomotor Analyses and Human Bipedalism, Univ. Tokyo Press, pp.105-130, 1985
11 Sipper, M., 'Fifty years of research on self-replication: an overview,' Artif Life, Vol. 4, pp.237-257, 1998   DOI   ScienceOn
12 DeJong, K.,'An analysis of the behavior of a class of genetic adaptive systems,' Ph.D. Thesis, University of Michigan, 1975
13 Jang, J.S.R., Sun, C.T. and Mizutani, E., 'Neuro Fuzzy and Soft Computing,' ISBN: 0132874679, Prentice Hall, 1997
14 The Ministry of Health and Welfare, Ed., Recommended Dietary Allowances for the Japaness, Daiichi Shuppan, 1994
15 Winter, J.M. and Woo, S.L., 'Multiple muscle system,' Springer Verlag, 1990
16 Alexander, R.M., 'Locomotion of animals,' Blackie & Sons, 1982
17 Hase, K. and Yamazaki, N., 'Computer simulation study of human locomotion with a three-dimensional entire-body neuro-musculo-skeletal model Ⅰ.acquisition of normal walking,' JSME International Journal, Ser. C, Vol. 45, pp.1040-1050, 2002   DOI   ScienceOn
18 Taga, G., 'A model of the neuro-musculo-skeletal system for anticipatory adjustment of human locomotion during obstacle avoidance,' Biological Cybernetics, Vol. 78, pp.9-17, 1998   DOI
19 Winters, J.M. and Stark, L., 'Muscle models: What is gained and what is lost by varying model complexity,' Biological Cybernetics, Vol.55, pp.403-420, 1987   DOI
20 Raibert, M. H., 'Hopping in leg systems - modeling and simulation for the two-dimensional on-leg case,' IEEE Trans. System, Man and Cybernetics, SMC-14, pp.451-463, 1984   DOI
21 Ito, S., Yuasa, H., Luo, Z.W., Ito, M. and Yanagihara, D., 'A mathemtical model of adaptive behavior in quarduped locomotion,' Biol. Cybern., Vol.78, pp.337-47, 1998   DOI
22 엄광문, 강곤, 이정한, Hoshimiya, N., '전기자국을 이용한 상실된 운동기능의 회복: 기능적 전기자극(FES),' 한국 정밀공학회지, Vol. 20, No. 1, pp.26-35, 2003   과학기술학회마을
23 Gilchrist, L.A. and Winter, D.A., 'A two-part, viscoelastic foot model for use in gait simulations,' J. Biomehanics, Vol. 29, pp.795-798, 1996   DOI   ScienceOn
24 Gilchrist, L.A. and Winter, D.A., 'A multisegment computer simulation of normal human gait,' IEEE Trans. Rehabil. Eng., Vol. 5, pp.290-9, 1997   DOI   ScienceOn
25 Oatis, C.A., 'The use of a mechanical model to describe the stiffness and damping characteristics of the knee joint in healthy adults,' Phys. Ther., Vol.73, pp.740-9, 1993   DOI
26 Toquenaga, Y., Ichinose, M., Hoshino, T. and Fujii, K., 'Contest and scramble competitions in an artificial world: Genetic analysis with genetic algorithms,' in Artificial Life III, C. G., Langton Ed., Addison Wesley, pp. 177-199, 1994
27 Sims, K., 'Evolving 3D morphology and behavior by competition,' in Artificial Life IV, R. A. Brooks et al. Eds., The MIT Press, pp. 28-39, 1994
28 Taga, G., Yamaguchi, Y. and Shimizu, H., 'Self-organized control of bipedal Iocomotion by neural oscillators in unpredictable environment,' Biol. Cybern., Vol. 65, pp. 147-159, 1991   DOI
29 Lewis, M.A., Etienne-Cummings, R., Hartmann, M.J., Xu, Z. R. and Cohen, A. H., 'An in silico central pattern generator: silicon oscillator, coupling, entrainment and physical computation,' Biol. Cybern., Vol.88, pp.137-151, 2003   DOI
30 Ray, T. S., 'An approach to the synthesis of life,' in Artificial Life II, C. G. Langton et al. Eds., Addison Wesley, pp.371-408, 1992
31 Ogihara, N. and Yamazaki, N., 'Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model,' Biol. Cybern., Vol.84, pp.1-11, 2001   DOI
32 Yamazaki, N., 'Biomechanical interrelationship among body proportions, posture, and bipedal walking,' in Topics in Primatology III, S. Matano et al. Eds., University of Tokyo Press, pp. 243-257, 1992
33 Walker, M.W. and Orin, D.E., 'Efficient dynamic computer simulation of robotic mechanisms,' Trans. ASME J. Dynamic Systems, Measurement, and Control, Vol. 104, pp.205-211, 1982   DOI
34 Pribe, C., Grossberg, S., Cohen, M.A., 'Neural control of interlimb oscillations. II. Biped and quadruped gaits and bifurcations,' Biol. Cybern., Vol. 77, pp.141-52, 1997   DOI