Abstract
The nonlinear dynamics of the neuro-musculo-skeletal system and the environment play central roles for the control of human bipedal locomotion. Our neuro-musculo-skeletal model demonstrates that walking movements emerge from a global entrainment between oscillatory activity of a neural system composed of neural oscillators and a musculo-skeletal system. The attractor dynamics are responsible for the stability of locomotion when the environment changes. By linking the self-organizing mechanism for the generation of movements to the optical flow information that indicates the relationship between a moving actor and the environment, visuo-motor coordination is achieved. Our model can also be used to simulate pathological gaits due to brain disorders. Finally, a model of the development of bipedal locomotion in infants demonstrates that independent walking is acquired through a mechanism of freezing and freeing degrees of freedom.
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