Emergence of bipedal locomotion through entrainment among the neuro-musculo-skeletal system and the environment

摘要: Abstract A principle of locomotor control in an unpredictably changing environment is presented on the basis neurophysiology and biomechanics from perspective nonlinear dynamics theory. Locomotor movements emerge as a limit cycle generated through global entrainment among neuro-musculo-skeletal system environment. computer simulation specific model bipedal locomotion shows its ability to adapt real-time. The stability maintained despite presence time delays transporting processing information between neural rhythm generator musculo-skeletal system. With considerable delays, however, pattern becomes chaotic, which compared with gait patients deficits. general framework for motor discussed toward unpredictable