2017
DOI: 10.1186/s40648-017-0078-2
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Influence of trunk structure on posture transition from quadrupedalism to bipedalism

Abstract: An effective strategy for walking over rough terrain, flat plane, and wreckage includes transitioning from quadrupedal to bipedal locomotion. In this study, we designed a trunk mechanism that provides successful posture transition from quadrupedalism to bipedalism. The proposed trunk mechanism imitates the human trunk with redundant joints and elastic muscles supporting the trunk. The simulation results show that the proposed mechanism provides a successful and more rapid transition compared to the conventiona… Show more

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Cited by 6 publications
(5 citation statements)
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References 16 publications
(28 reference statements)
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“…The making of the TDI stems from the evolutionistic perspective of the development of the upright posture and bipedal locomotion. Indeed, during this process the position of the trunk and the weight distribution changed 48 , 49 . This brought an increase in the complexity of the task of keeping balance, which sees an involvement of the cerebellum in controlling COM, exploiting vestibulospinal information of trunk verticality 28 , 30 .…”
Section: Methodsmentioning
confidence: 99%
“…The making of the TDI stems from the evolutionistic perspective of the development of the upright posture and bipedal locomotion. Indeed, during this process the position of the trunk and the weight distribution changed 48 , 49 . This brought an increase in the complexity of the task of keeping balance, which sees an involvement of the cerebellum in controlling COM, exploiting vestibulospinal information of trunk verticality 28 , 30 .…”
Section: Methodsmentioning
confidence: 99%
“…Higher TDI values indicate wide trunk displacement with respect to the COM trajectory, expressing low postural control. Its conception originated from the idea that through the evolution and the transition from quadrupedal to bipedal locomotion the positions of the trunk and the COM [ 47 , 48 ] changed and the total weight of the body moved on two limbs, increasing the complexity of the task of keeping balance. Intuitively, it is expected that the trunk oscillation should not be too wide compared to the COM movement.…”
Section: Introductionmentioning
confidence: 99%
“…From an evolutionistic perspective, locomotion is a complex process, and the lower limbs are part of a highly-structured kinematic chain that includes all body segments. In the evolution of upright posture and bipedal locomotion, the position of the trunk changed, and so did the distribution of its weight on the lower limbs 15 , 16 . Such changes provoked a marked rise in the complexity of the task of keeping balance 17 becoming computationally demanding.…”
Section: Introductionmentioning
confidence: 99%