subject:(Locomotion)

Texas A&M University

1. Lack, Jordan Thomas. Planar Multicontact Locomotion Using Hybrid Zero Dynamics.

Degree: MS, Mechanical Engineering, 2013, Texas A&M University

URL: http://hdl.handle.net/1969.1/151833

► This thesis proposes a method for generating multi-contact, humanlike locomotion via a human-inspired optimization. The chief objective of this work is to offer an initial… (more)

Subjects/Keywords: Robot; Locomotion

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APA (6^th Edition):

Lack, J. T. (2013). Planar Multicontact Locomotion Using Hybrid Zero Dynamics. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/151833

Chicago Manual of Style (16^th Edition):

Lack, Jordan Thomas. “Planar Multicontact Locomotion Using Hybrid Zero Dynamics.” 2013. Masters Thesis, Texas A&M University. Accessed January 26, 2021. http://hdl.handle.net/1969.1/151833.

MLA Handbook (7^th Edition):

Lack, Jordan Thomas. “Planar Multicontact Locomotion Using Hybrid Zero Dynamics.” 2013. Web. 26 Jan 2021.

Vancouver:

Lack JT. Planar Multicontact Locomotion Using Hybrid Zero Dynamics. [Internet] [Masters thesis]. Texas A&M University; 2013. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/1969.1/151833.

Council of Science Editors:

Lack JT. Planar Multicontact Locomotion Using Hybrid Zero Dynamics. [Masters Thesis]. Texas A&M University; 2013. Available from: http://hdl.handle.net/1969.1/151833

2. Pujala, Avinash. The neural mechanisms underlying ventral and dorsal root-evoked fictive locomotion in the neonatal mouse spinal cord.

Degree: PhD, Neuroscience, 2013, Brown University

URL: https://repository.library.brown.edu/studio/item/bdr:320663/

► In this thesis, I made use of the isolated spinal cord preparation of the neonatal mice to investigate the neural mechanisms underlying fictive locomotion. Recently,… (more)

▼ In this thesis, I made use of the isolated spinal cord preparation of the neonatal mice to investigate the neural mechanisms underlying fictive locomotion. Recently, it has been shown that stimulation of ventral roots (motoneuron axons) produces fictive locomotion. However, the spinal pathways and pharmacological mechanisms underlying this phenomenon are unknown. To further our understanding in this regard, I carried out experiments to determine if ventral roots activated the locomotor network in a manner similar to dorsal roots (primary afferents). When I jointly stimulated dorsal and ventral roots with low intensity stimuli incapable of eliciting fictive I was unable to elicit fictive locomotion. This suggested that ventral and dorsal roots accessed the locomotor network via different sets of first-order relay interneurons. This was more directly indicated by recordings from two different relay interneuron populations known to be contacted by afferents, and to be important for excitation of the locomotor network. Unlike dorsal roots, ventral roots failed to elicit monosynaptic responses within these neurons. This raised the possibility that motor axons and sensory afferents might activate distinct rhythmogenic networks. To test this idea, I used interleaved dorsal and ventral root stimulus trains. Such interleaved stimulus trains elicited robust locomotor-like activity, suggesting that the two inputs were indeed activating the same rhythmogenic elements. This was confirmed in a set of experiments in which the stimulus train began with one root and was then abruptly switched to the other root. In these experiments, locomotor-like rhythmic activity continued without interruption, despite the sudden switch in the stimulation from one root to another. Collectively these results suggest that dorsal and ventral root stimuli activate the same rhythmogenic network, but by exciting different relay interneurons. In another study, I investigated the pharmacological mechanisms underlying electrically-elicited fictive locomotion. I found that fictive locomotion elicited in this manner required activation of a class of metabotropic glutamate receptors. By selectively applying pharmacological agents to different parts of the spinal cord, I was able to uncover evidence suggesting that this class of metabotropic glutamate receptors played an important role in the mechanisms of rhythmogenesis. Advisors/Committee Members: O'Donovan, Michael (Director), Harris-Warrick, Ronald (Reader), McBain, Chris (Reader), Connors, Barry (Reader).

Subjects/Keywords: Fictive locomotion

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APA (6^th Edition):

Pujala, A. (2013). The neural mechanisms underlying ventral and dorsal root-evoked fictive locomotion in the neonatal mouse spinal cord. (Doctoral Dissertation). Brown University. Retrieved from https://repository.library.brown.edu/studio/item/bdr:320663/

Chicago Manual of Style (16^th Edition):

Pujala, Avinash. “The neural mechanisms underlying ventral and dorsal root-evoked fictive locomotion in the neonatal mouse spinal cord.” 2013. Doctoral Dissertation, Brown University. Accessed January 26, 2021. https://repository.library.brown.edu/studio/item/bdr:320663/.

MLA Handbook (7^th Edition):

Pujala, Avinash. “The neural mechanisms underlying ventral and dorsal root-evoked fictive locomotion in the neonatal mouse spinal cord.” 2013. Web. 26 Jan 2021.

Vancouver:

Pujala A. The neural mechanisms underlying ventral and dorsal root-evoked fictive locomotion in the neonatal mouse spinal cord. [Internet] [Doctoral dissertation]. Brown University; 2013. [cited 2021 Jan 26]. Available from: https://repository.library.brown.edu/studio/item/bdr:320663/.

Council of Science Editors:

Pujala A. The neural mechanisms underlying ventral and dorsal root-evoked fictive locomotion in the neonatal mouse spinal cord. [Doctoral Dissertation]. Brown University; 2013. Available from: https://repository.library.brown.edu/studio/item/bdr:320663/

University of Waterloo

3. Silva, Veronica Miyasike da. Role of visual information during stair locomotion.

Degree: 2011, University of Waterloo

URL: http://hdl.handle.net/10012/5824

► Vision provides relevant information for safe locomotion in a variety of environments. During stair locomotion visual information may be important to detect step boundaries, transitions… (more)

▼ Vision provides relevant information for safe locomotion in a variety of environments. During stair locomotion visual information may be important to detect step boundaries, transitions between ground level and stairs, handrail location, and potential hazards. Although there is a large body of literature on the role of vision during locomotion there is relatively little focused on how visual information is used during stair walking. Stairs are related to a significant number of accidents in daily living, and many of these accidents are attributed to visual factors. Therefore, understanding the role of vision during stair walking could provide insight into the mechanisms involved in stair accidents. The purpose of this thesis was to investigate the properties of the visual input used to guide locomotion on stairs. Study 1 was design to describe the gaze patterns during stair locomotion with a specific focus on transitions and handrails. Study 2 investigated the effects of performing concurrent visual and non-visual tasks on walking performance and associated gaze behaviour during stair ascent. Study 3 explored the role of peripheral visual information during visual and non-visual dual tasking. Finally, Study 4 investigated the effects of restricting the lower peripheral visual field to walk on stairs. Studies relied on the measurement in health young adults of: gaze behaviour using an eye tracker, temporal characteristics of walking using foot switches, and reaction time and errors of dual task performance. Overall, the findings of these studies highlight the importance of the lower visual field in guiding stair locomotion and the specific importance for stair transitions. Moreover, foveal vision is not specifically critical to detecting handrails or steps. Results are interpreted in the light of the specialization of the dorsal ventral stream in processing peripheral visual field information. Findings of this thesis provide basic understanding on the role of vision for stair navigation with potential applications in stair-related accident prevention programs and stair design.

Subjects/Keywords: vision; locomotion; stair locomotion; peripheral vision

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APA (6^th Edition):

Silva, V. M. d. (2011). Role of visual information during stair locomotion. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/5824

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Silva, Veronica Miyasike da. “Role of visual information during stair locomotion.” 2011. Thesis, University of Waterloo. Accessed January 26, 2021. http://hdl.handle.net/10012/5824.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Silva, Veronica Miyasike da. “Role of visual information during stair locomotion.” 2011. Web. 26 Jan 2021.

Vancouver:

Silva VMd. Role of visual information during stair locomotion. [Internet] [Thesis]. University of Waterloo; 2011. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/10012/5824.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Silva VMd. Role of visual information during stair locomotion. [Thesis]. University of Waterloo; 2011. Available from: http://hdl.handle.net/10012/5824

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Université Catholique de Louvain

4. Dewolf, Arthur. Neuromechanics of human walking and running on a slope.

Degree: 2019, Université Catholique de Louvain

URL: http://hdl.handle.net/2078.1/214187

►

Neuromechanics is rather new approach that integrates biomechanics and motor control of movement. In this thesis, we analyse how the mechanics and the neuromuscular control… (more)

Subjects/Keywords: Neuromechanics; Human locomotion

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APA (6^th Edition):

Dewolf, A. (2019). Neuromechanics of human walking and running on a slope. (Thesis). Université Catholique de Louvain. Retrieved from http://hdl.handle.net/2078.1/214187

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Dewolf, Arthur. “Neuromechanics of human walking and running on a slope.” 2019. Thesis, Université Catholique de Louvain. Accessed January 26, 2021. http://hdl.handle.net/2078.1/214187.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Dewolf, Arthur. “Neuromechanics of human walking and running on a slope.” 2019. Web. 26 Jan 2021.

Vancouver:

Dewolf A. Neuromechanics of human walking and running on a slope. [Internet] [Thesis]. Université Catholique de Louvain; 2019. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/2078.1/214187.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Dewolf A. Neuromechanics of human walking and running on a slope. [Thesis]. Université Catholique de Louvain; 2019. Available from: http://hdl.handle.net/2078.1/214187

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

5. Liu, James. EVALUATION OF HANDSBUSY VERSUS HANDSFREE VIRTUAL LOCOMOTION.

Degree: 2019, University of Nevada – Reno

URL: http://hdl.handle.net/11714/5706

► To navigate beyond the confines of often limited available positional tracking space, virtual reality (VR) users need to switch from natural walking input to a… (more)

Subjects/Keywords: Locomotion; Virtual Reality

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APA (6^th Edition):

Liu, J. (2019). EVALUATION OF HANDSBUSY VERSUS HANDSFREE VIRTUAL LOCOMOTION. (Thesis). University of Nevada – Reno. Retrieved from http://hdl.handle.net/11714/5706

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Liu, James. “EVALUATION OF HANDSBUSY VERSUS HANDSFREE VIRTUAL LOCOMOTION.” 2019. Thesis, University of Nevada – Reno. Accessed January 26, 2021. http://hdl.handle.net/11714/5706.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Liu, James. “EVALUATION OF HANDSBUSY VERSUS HANDSFREE VIRTUAL LOCOMOTION.” 2019. Web. 26 Jan 2021.

Vancouver:

Liu J. EVALUATION OF HANDSBUSY VERSUS HANDSFREE VIRTUAL LOCOMOTION. [Internet] [Thesis]. University of Nevada – Reno; 2019. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/11714/5706.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Liu J. EVALUATION OF HANDSBUSY VERSUS HANDSFREE VIRTUAL LOCOMOTION. [Thesis]. University of Nevada – Reno; 2019. Available from: http://hdl.handle.net/11714/5706

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

INP Toulouse

6. Truong, Tan Viet Anh. Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion.

Degree: Docteur es, Systèmes Automatiques, 2010, INP Toulouse

URL: http://www.theses.fr/2010INPT0026

►

Notre motivation est de comprendre la locomotion humaine pour un meilleur contrôle des systèmes virtuels (robots et mannequins). La locomotion humaine a été étudiée depuis… (more)

▼

Notre motivation est de comprendre la locomotion humaine pour un meilleur contrôle des systèmes virtuels (robots et mannequins). La locomotion humaine a été étudiée depuis longtemps dans des domaines différents. Nous considérons la locomotion comme le déplacement d’un repère attaché au corps humain (direction et orientation) au lieu de la trajectoire articulaire du corps complet. Notre approche est basée sur le fondement calculatoire de la locomotion humaine. Le but est de trouver un modèle qui explique la forme de la locomotion humaine dans l’espace. Pour ce faire, nous étudions tout d’abord le comportement des trajectoires au sol pendant la locomotion intentionnelle. Quand un humain marche, il met un pied devant l’autre et par conséquence, l’orientation du corps suit la direction tangente de la trajectoire. C’est ce qu’on appelle l’hypothèse de comportement nonholonome. Cependant, dans le cas d’un pas de côté, l’orientation du corps n’est plus semblable à la direction de trajectoire, et l’hypothèse n’est plus valable. Le comportement de la locomotion devient holonome. Le but de la thèse est de distinguer ces deux comportements et de les exploiter en neuroscience, robotique et animation graphique. La première partie de la thèse présente une étude qui permet de déterminer des configurations de comportement holonome par un protocole expérimental et par une fonction qui segmente les comportements nonholonomes et holonomes d’une trajectoire. Dans la deuxième partie, nous établissons un modèle unifiant comportements nonholonomes et holonomes. Ce modèle combine trois vitesses générant la locomotion humaine : tangentielle, angulaire et latérale. Par une approche de commande optimale inverse nous proposons une fonction multi-objectifs qui optimise des trajectoires calculées pour les rendre proches des trajectoires humaines naturelles. La dernière partie est l’application qui utilise les deux comportements pour synthétiser des locomotions humaines dans un environnement d’animation graphique. Chaque locomotion est caractérisée par trois vitesses et est donc considérée comme un point dans l’espace de commande 3D (de trois vitesses). Nous avons collecté une librairie qui contient des locomotions de vitesses différentes – des points dans l’espace 3D. Ces points sont structurés en un nuage de tétraèdres. Quand une vitesse désirée est donnée, elle est projetée dans l’espace 3D et on trouve le tétraèdre qui la contient. La nouvelle animation est interpolée par quatre locomotions correspondant aux quatre sommets du tétraèdre. On expose plusieurs scénarios d’animations sur un personnage virtuel.

Our motivation is to understand human locomotion to better control locomotion of virtual systems (robots and mannequins). Human locomotion has been studied so far in different disciplines. We consider locomotion as the level of a body frame (in direction and orientation) instead of the complexity of many kinematic joints systems as other approaches. Our approach concentrates on the computational foundation of human locomotion. The ultimate…

Advisors/Committee Members: Laumond, Jean-Paul (thesis director), Souères, Philippe (thesis director).

Subjects/Keywords: Locomotion humaine; Animation de locomotion; Mouvement holonome/nonholonome; Trajectoires de locomotion; Contrôleur de locomotion; Human locomotion; Locomotion animation; Lolonomic/nonholonomic motions; Locomotor trajectories; Locomotion controller

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APA (6^th Edition):

Truong, T. V. A. (2010). Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion. (Doctoral Dissertation). INP Toulouse. Retrieved from http://www.theses.fr/2010INPT0026

Chicago Manual of Style (16^th Edition):

Truong, Tan Viet Anh. “Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion.” 2010. Doctoral Dissertation, INP Toulouse. Accessed January 26, 2021. http://www.theses.fr/2010INPT0026.

MLA Handbook (7^th Edition):

Truong, Tan Viet Anh. “Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion.” 2010. Web. 26 Jan 2021.

Vancouver:

Truong TVA. Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion. [Internet] [Doctoral dissertation]. INP Toulouse; 2010. [cited 2021 Jan 26]. Available from: http://www.theses.fr/2010INPT0026.

Council of Science Editors:

Truong TVA. Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion. [Doctoral Dissertation]. INP Toulouse; 2010. Available from: http://www.theses.fr/2010INPT0026

University of British Columbia

7. Frith, Harold Russ. Energetics of fast-starts in northern pike, Esox lucius.

Degree: PhD, Zoology, 1990, University of British Columbia

URL: http://hdl.handle.net/2429/30834

► Fast-starts are high powered events of short duration, used by fish for prey capture and escape from predation. Here, the energetic cost of fast-starts in… (more)

▼ Fast-starts are high powered events of short duration, used by fish for prey capture and escape from predation. Here, the energetic cost of fast-starts in escape and prey capture for a fast-start specialist, the northern pike, Esox lucius, are determined and physiological and behavioural constraints assessed. This is done by comparing costs with literature values for physiological limits set my muscle mechanics and biochemistry, and comparing costs with other components of the energy budget. The combination of high speed film analysis (200-250Hz) and hydrodynamic models are used to determine the mechanical costs, hydrodynamic efficiencies and power output of fast-starts in prey capture (S-starts) and escape behaviour (C-starts). Excess post-exercise oxygen consumption (EPOC) is used to estimate the metabolic cost of fast-starts. A comparison of model predictions with required (acceleration) force estimates shows results are within 22% and similar to previous findings at lower film speeds. The caudal region including the caudal, dorsal and anal fins contribute the most to thrust (>90%) and the dorsal and anal fins contribute 28%. Due to the necessity for deceleration of fin sections during each tail beat, kinematics are not always optimal as predicted by the Weihs model. Mechanical power output, hydrodynamic efficiency and kinematic parameters (maximum velocities and maximum angle of attack of the caudal fin) are determined for fast-starts during prey capture and escape. Hydrodynamic efficiency averages 0.37 (range: 0.34 to 0.39) for C-starts and 0.27 (range: 0.16 to 0.37) for S-starts. The acceleration of added mass contributes the most to power output at 39%. Power output and efficiency for S-starts are more variable than C-starts and hydromechanical efficiency increases with number of tail beats for S-starts. Maximum muscle power output and maximum muscle stress during fast-starts in comparison to literature values for muscle function shows muscle power output during fast-starts is at its physiological limit but muscle stress is not. Metabolic efficiency is higher at 0.094 for C-starts than S-starts at 0.047. However, muscle efficiency estimates are similar averaging 0.252 for both fast-start types. Mean energetic cost of fast-starts is determined to be 26.5 J/kg for C-starts and 18.6 J/kg for S-starts. Based on the observation that pike can repeatedly fast-start up to 170 times before becoming exhausted and on estimates of available energy reserves from literature values for ATP and CrP concentrations in white muscle, the duration of fast-starts is concluded to not be limited by muscle physiology. Average power output is found to be similar for C and S-starts at 406 to 412 W/kg. Only hydrolysis of ATP and CrP can supply energy at this rate. Therefore, based on fish white muscle biochemistry and mechanics, power output during fast-starts appears to be limited by muscle physiology. The cost of fast-starts represents 0.03 to 2% of maintenance costs for pike and therefore only 5 to 30 fast-starts per day would…

Subjects/Keywords: Pike – Locomotion; Esocidae – Locomotion; Fishes – Locomotion

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APA (6^th Edition):

Frith, H. R. (1990). Energetics of fast-starts in northern pike, Esox lucius. (Doctoral Dissertation). University of British Columbia. Retrieved from http://hdl.handle.net/2429/30834

Chicago Manual of Style (16^th Edition):

Frith, Harold Russ. “Energetics of fast-starts in northern pike, Esox lucius.” 1990. Doctoral Dissertation, University of British Columbia. Accessed January 26, 2021. http://hdl.handle.net/2429/30834.

MLA Handbook (7^th Edition):

Frith, Harold Russ. “Energetics of fast-starts in northern pike, Esox lucius.” 1990. Web. 26 Jan 2021.

Vancouver:

Frith HR. Energetics of fast-starts in northern pike, Esox lucius. [Internet] [Doctoral dissertation]. University of British Columbia; 1990. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/2429/30834.

Council of Science Editors:

Frith HR. Energetics of fast-starts in northern pike, Esox lucius. [Doctoral Dissertation]. University of British Columbia; 1990. Available from: http://hdl.handle.net/2429/30834

University of Alberta

8. Montgomery, Emaline M. The size dependence of sea star locomotion: Does bigger mean faster?.

Degree: MS, Department of Biological Sciences, 2013, University of Alberta

URL: https://era.library.ualberta.ca/files/cz30pv11r

► As a general rule, larger-bodied animals within a species move at faster absolute speeds independently of locomotive mode. The relationship between body size and speed… (more)

Subjects/Keywords: locomotion; body size; echinodermata

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APA (6^th Edition):

Montgomery, E. M. (2013). The size dependence of sea star locomotion: Does bigger mean faster?. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/cz30pv11r

Chicago Manual of Style (16^th Edition):

Montgomery, Emaline M. “The size dependence of sea star locomotion: Does bigger mean faster?.” 2013. Masters Thesis, University of Alberta. Accessed January 26, 2021. https://era.library.ualberta.ca/files/cz30pv11r.

MLA Handbook (7^th Edition):

Montgomery, Emaline M. “The size dependence of sea star locomotion: Does bigger mean faster?.” 2013. Web. 26 Jan 2021.

Vancouver:

Montgomery EM. The size dependence of sea star locomotion: Does bigger mean faster?. [Internet] [Masters thesis]. University of Alberta; 2013. [cited 2021 Jan 26]. Available from: https://era.library.ualberta.ca/files/cz30pv11r.

Council of Science Editors:

Montgomery EM. The size dependence of sea star locomotion: Does bigger mean faster?. [Masters Thesis]. University of Alberta; 2013. Available from: https://era.library.ualberta.ca/files/cz30pv11r

University of Alberta

9. Olsen, Fraser G. The V0 Interneurons: First-Order Interneurons of the Locomotor CPG?.

Degree: MS, Centre for Neuroscience, 2011, University of Alberta

URL: https://era.library.ualberta.ca/files/tb09j709f

► The locomotor Central Pattern Generator (CPG) is a neuronal network capable of producing rhythmic locomotor output independent of sensory or descending input. Attempts to identify… (more)

Subjects/Keywords: CPG; Locomotion; V0; Interneuron

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APA (6^th Edition):

Olsen, F. G. (2011). The V0 Interneurons: First-Order Interneurons of the Locomotor CPG?. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/tb09j709f

Chicago Manual of Style (16^th Edition):

Olsen, Fraser G. “The V0 Interneurons: First-Order Interneurons of the Locomotor CPG?.” 2011. Masters Thesis, University of Alberta. Accessed January 26, 2021. https://era.library.ualberta.ca/files/tb09j709f.

MLA Handbook (7^th Edition):

Olsen, Fraser G. “The V0 Interneurons: First-Order Interneurons of the Locomotor CPG?.” 2011. Web. 26 Jan 2021.

Vancouver:

Olsen FG. The V0 Interneurons: First-Order Interneurons of the Locomotor CPG?. [Internet] [Masters thesis]. University of Alberta; 2011. [cited 2021 Jan 26]. Available from: https://era.library.ualberta.ca/files/tb09j709f.

Council of Science Editors:

Olsen FG. The V0 Interneurons: First-Order Interneurons of the Locomotor CPG?. [Masters Thesis]. University of Alberta; 2011. Available from: https://era.library.ualberta.ca/files/tb09j709f

Georgia Tech

10. Schiebel, Perrin Elizabeth. Limbless locomotion in complex terrestrial terrain.

Degree: PhD, Physics, 2019, Georgia Tech

URL: http://hdl.handle.net/1853/62635

► Limbless locomotion is used by animals ranging from micro to macroscopic to move in a wide variety of terrains. Snakes in particular use their elongate… (more)

▼ Limbless locomotion is used by animals ranging from micro to macroscopic to move in a wide variety of terrains. Snakes in particular use their elongate bodies to swim in water, climb trees, burrow into sand and soil, crawl across terrestrial terrain from jungle to desert, and glide through the air. The versatility of limbless locomotion makes it suitable for situations that challenge legged or wheeled platforms, and for this reason snake-like robots are an attractive solution for engineering problems like movement in the confined, unstable rubble of a collapsed building. We studied the motion of live snakes as they moved through laboratory models of terrestrial terrain to search for principles governing both the relationship between waveform and performance as mediated by the terrain physics and the neuromechanical strategies for coordinating a many degrees-of-freedom body in complex surroundings. We found the desert-dwelling snake, Chionactis occipitalis, in homogeneous granular matter used a stereotyped waveform to move quickly across the surface. Resistive force theory calculation of sand-swimming performance revealed the self-deformation pattern of the snakes conferred maximum speed given a constraint on peak power. We explored the neuromechanics of these snakes by observing kinematics as they traversed a single row of posts. The interaction resulted in a mechanical diffraction pattern, reminiscent of the diffraction of subatomic particles. Comparison with a geometric model revealed this phenomenon was explained by an unaltered motor program supplemented by passive dynamics. We modeled multi-component terrestrial terrain as arrays of rigid posts of different post-to-post spacing affixed to a low-friction substrate and embedded in granular matter. The performance of the desert snake was a function of both substrate and lattice spacing, and comparison to a generalist snake species (Pantherophis guttatus) suggested that the ability to modulate the waveform in response to the environment was important in variable terrain. Advisors/Committee Members: Goldman, Daniel I. (advisor), Hu, David (committee member), Sponberg, Simon (committee member), Curtis, Jennifer (committee member), Rocklin, D. Zeb (committee member).

Subjects/Keywords: Snake; Biomechanics; Neuromechanics; Terrestrial; Locomotion

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APA (6^th Edition):

Schiebel, P. E. (2019). Limbless locomotion in complex terrestrial terrain. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62635

Chicago Manual of Style (16^th Edition):

Schiebel, Perrin Elizabeth. “Limbless locomotion in complex terrestrial terrain.” 2019. Doctoral Dissertation, Georgia Tech. Accessed January 26, 2021. http://hdl.handle.net/1853/62635.

MLA Handbook (7^th Edition):

Schiebel, Perrin Elizabeth. “Limbless locomotion in complex terrestrial terrain.” 2019. Web. 26 Jan 2021.

Vancouver:

Schiebel PE. Limbless locomotion in complex terrestrial terrain. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/1853/62635.

Council of Science Editors:

Schiebel PE. Limbless locomotion in complex terrestrial terrain. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/62635

Vanderbilt University

11. -1983-0349. Evaluation of Locomotion Techniques in Room and Standing Scale Tracked Spaces.

Degree: PhD, Computer Science, 2020, Vanderbilt University

URL: http://hdl.handle.net/1803/10106

► Navigation is an everyday activity. It consists of knowing where you are, knowing where you want to go, and choosing some way to get there.… (more)

▼ Navigation is an everyday activity. It consists of knowing where you are, knowing where you want to go, and choosing some way to get there. This way is referred to as locomotion or a locomotion method. As we locomote we must use the information we acquire from the environment to update our understanding of where we are in the environment. This process is called spatial updating. One common locomotion method is walking, and a large body of literature has shown that we are able to more easily spatially update using information we take in from our environment when walking as compared to other locomotion methods. The situation is similar for large immersive virtual environments. Unfortunately, there is no natural way of providing true walking for a large immersive virtual environment due to limitations of the virtual reality system itself, e.g., limitations of the space in which the system monitors a user’s movements and reflects them in the virtual world, called the tracked space. Rather, all methods of locomotion have to be designed to fit the constraints of the system. This dissertation investigates the design and evaluation of locomotion methods with the goal of understanding how to best support spatial awareness and spatial updating. In five experiments, we focus on several factors that affect people’s ability to navigate through large virtual spaces with high spatial awareness. These factors are the choice of the locomotion method, the ability of each individual to reason spatially, and the size of the tracked space supported by the virtual reality system. This dissertation presents four major findings. Locomotion methods that provide physical translation better support spatial awareness and spatial updating. Locomotion methods that simulate walking without providing physical translation support spatial awareness but make it difficult to demonstrate that awareness. An individual’s spatial ability interacts with the choice of locomotion method in a manner that affects spatial. Finally, the appropriate locomotion method is dependent on the available tracked space. This work opens our understanding of how individual ability, locomotion method, room size, and spatial awareness interact and affect each other. These results will be useful to designers of immersive virtual environments because they provide guidelines into the choice of locomotion method and help them understand when additional spatial information will need to be provided to the user. Cognitive scientists may find our results useful because they explore what information is important in spatial reasoning for large virtual spaces. Future work can explore individualization of these locomotion methods or how to combine multiple locomotion methods to support the exploration of vast virtual worlds. Advisors/Committee Members: Bodenheimer, Bobby (advisor).

Subjects/Keywords: Virtual Reality; Navigation; Locomotion

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APA (6^th Edition):

-1983-0349. (2020). Evaluation of Locomotion Techniques in Room and Standing Scale Tracked Spaces. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10106

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Chicago Manual of Style (16^th Edition):

-1983-0349. “Evaluation of Locomotion Techniques in Room and Standing Scale Tracked Spaces.” 2020. Doctoral Dissertation, Vanderbilt University. Accessed January 26, 2021. http://hdl.handle.net/1803/10106.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

MLA Handbook (7^th Edition):

-1983-0349. “Evaluation of Locomotion Techniques in Room and Standing Scale Tracked Spaces.” 2020. Web. 26 Jan 2021.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Vancouver:

-1983-0349. Evaluation of Locomotion Techniques in Room and Standing Scale Tracked Spaces. [Internet] [Doctoral dissertation]. Vanderbilt University; 2020. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/1803/10106.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Council of Science Editors:

-1983-0349. Evaluation of Locomotion Techniques in Room and Standing Scale Tracked Spaces. [Doctoral Dissertation]. Vanderbilt University; 2020. Available from: http://hdl.handle.net/1803/10106

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Texas A&M University

12. Geetha Byju, Achu. Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance.

Degree: MS, Biomedical Engineering, 2016, Texas A&M University

URL: http://hdl.handle.net/1969.1/158639

► Tripping is responsible for a large percentage of falls. Minimum toe clearance (MTC) during the swing phase of gait is commonly used to infer the… (more)

Subjects/Keywords: biomechanics; trips; falls; gait; locomotion

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APA (6^th Edition):

Geetha Byju, A. (2016). Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/158639

Chicago Manual of Style (16^th Edition):

Geetha Byju, Achu. “Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance.” 2016. Masters Thesis, Texas A&M University. Accessed January 26, 2021. http://hdl.handle.net/1969.1/158639.

MLA Handbook (7^th Edition):

Geetha Byju, Achu. “Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance.” 2016. Web. 26 Jan 2021.

Vancouver:

Geetha Byju A. Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance. [Internet] [Masters thesis]. Texas A&M University; 2016. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/1969.1/158639.

Council of Science Editors:

Geetha Byju A. Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance. [Masters Thesis]. Texas A&M University; 2016. Available from: http://hdl.handle.net/1969.1/158639

Université Laval

13. Bagna, Maimouna. Utilisation des réflexes cutanés pour étudier les mécanismes de la plasticité adaptative locomotrice chez l'homme.

Degree: 2014, Université Laval

URL: http://hdl.handle.net/20.500.11794/25041

► Dans cette thèse, nous nous intéressons à la plasticité des voies réflexes chez l'homme, induite par l’adaptation du contrôle moteur de la marche suite à… (more)

▼ Dans cette thèse, nous nous intéressons à la plasticité des voies réflexes chez l'homme, induite par l’adaptation du contrôle moteur de la marche suite à une perturbation mécanique. Nous formulons l’hypothèse que cette plasticité, induite dans les voies réflexes, peut être étudiée dans le but de mieux comprendre les mécanismes adaptatifs mis en place par le système nerveux central. Cependant, l’étude des modifications des voies neuronales empruntées par les réflexes exige une analyse à la fois sensible et robuste et une description détaillée de ces réponses, ce que ne permettent pas les approches classiques jusqu’ici utilisées. Dans une première étude présentée dans cette thèse, nous avons développé une méthode robuste de traitement de signal pour identifier et extraire les réflexes cutanés de manière précise et systématique. L’approche proposée est basée sur une analyse unitaire des réflexes, qui implique la détection et la caractérisation de chaque réponse individuelle à la stimulation. Dans l’étude 2, nous avons montré que l’adaptation de la marche à un champ de force impliquait des mécanismes de plasticité pré-motoneurale. Pour approfondir l’étude de ces mécanismes impliqués pendant l’adaptation du contrôle moteur à un champ de force, dans la troisième étude, nous avons analysé les changements réflexes obtenus lors de la stimulation de trois nerfs différents convergeant sur le même pool de motoneurones (Tibial Antérieur). Les résultats de cette étude ont montré que les circuits neuronaux empruntés par chacun de ces trois nerfs se réorganisent de façon spécifique et que cette spécificité est potentiellement due à une réorganisation au niveau des interneurones spinaux, suggérant ainsi que ces derniers constitueraient un site important de la plasticité induite par l’adaptation à un champ de force. Pour tendre vers un contexte réel de réadaptation, nous avons également comparé, dans une 4eme étude, les changements dans les réflexes cutanés après la vibration du corps chez des personnes ayant subit une lésion médullaire et des participants en santé. Les résultats de cette étude ont montré que les changements observés dans les voies réflexes diffèrent chez ces deux populations, mais semblent avoir dans les deux cas, un effet fonctionnellement positif sur la marche. Advisors/Committee Members: Bouyer, Laurent, Richards, Carol L..

Subjects/Keywords: Plasticité neuronale; Réflexes; Locomotion humaine

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Bagna, M. (2014). Utilisation des réflexes cutanés pour étudier les mécanismes de la plasticité adaptative locomotrice chez l'homme. (Thesis). Université Laval. Retrieved from http://hdl.handle.net/20.500.11794/25041

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Bagna, Maimouna. “Utilisation des réflexes cutanés pour étudier les mécanismes de la plasticité adaptative locomotrice chez l'homme.” 2014. Thesis, Université Laval. Accessed January 26, 2021. http://hdl.handle.net/20.500.11794/25041.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Bagna, Maimouna. “Utilisation des réflexes cutanés pour étudier les mécanismes de la plasticité adaptative locomotrice chez l'homme.” 2014. Web. 26 Jan 2021.

Vancouver:

Bagna M. Utilisation des réflexes cutanés pour étudier les mécanismes de la plasticité adaptative locomotrice chez l'homme. [Internet] [Thesis]. Université Laval; 2014. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/20.500.11794/25041.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Bagna M. Utilisation des réflexes cutanés pour étudier les mécanismes de la plasticité adaptative locomotrice chez l'homme. [Thesis]. Université Laval; 2014. Available from: http://hdl.handle.net/20.500.11794/25041

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Otago

14. Chyou, Te-yuan. Passive dynamics in animal locomotion .

Degree: 2012, University of Otago

URL: http://hdl.handle.net/10523/2663

► For decades, biologists believed that animals walk because the brain calculates motion trajectories for their limbs. However, an alternative hypothesis on animal locomotion suggests the… (more)

Subjects/Keywords: passive dynamics; animal locomotion; biomechanics

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APA (6^th Edition):

Chyou, T. (2012). Passive dynamics in animal locomotion . (Doctoral Dissertation). University of Otago. Retrieved from http://hdl.handle.net/10523/2663

Chicago Manual of Style (16^th Edition):

Chyou, Te-yuan. “Passive dynamics in animal locomotion .” 2012. Doctoral Dissertation, University of Otago. Accessed January 26, 2021. http://hdl.handle.net/10523/2663.

MLA Handbook (7^th Edition):

Chyou, Te-yuan. “Passive dynamics in animal locomotion .” 2012. Web. 26 Jan 2021.

Vancouver:

Chyou T. Passive dynamics in animal locomotion . [Internet] [Doctoral dissertation]. University of Otago; 2012. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/10523/2663.

Council of Science Editors:

Chyou T. Passive dynamics in animal locomotion . [Doctoral Dissertation]. University of Otago; 2012. Available from: http://hdl.handle.net/10523/2663

University of Manitoba

15. Ansari, Jahanzeb. Do propriospinal neurons contribute to transmission of the locomotor command signal in adult mammals?.

Degree: Physiology and Pathophysiology, 2016, University of Manitoba

URL: http://hdl.handle.net/1993/31826

► Long projections from the brainstem to the lumbar cord activate locomotion. Using in vitro neonatal rats our laboratory showed that relay (propriospinal - PS) neurons… (more)

Subjects/Keywords: Locomotion; Propriospinal; Spinal cord; Hemisection

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APA (6^th Edition):

Ansari, J. (2016). Do propriospinal neurons contribute to transmission of the locomotor command signal in adult mammals?. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/31826

Chicago Manual of Style (16^th Edition):

Ansari, Jahanzeb. “Do propriospinal neurons contribute to transmission of the locomotor command signal in adult mammals?.” 2016. Masters Thesis, University of Manitoba. Accessed January 26, 2021. http://hdl.handle.net/1993/31826.

MLA Handbook (7^th Edition):

Ansari, Jahanzeb. “Do propriospinal neurons contribute to transmission of the locomotor command signal in adult mammals?.” 2016. Web. 26 Jan 2021.

Vancouver:

Ansari J. Do propriospinal neurons contribute to transmission of the locomotor command signal in adult mammals?. [Internet] [Masters thesis]. University of Manitoba; 2016. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/1993/31826.

Council of Science Editors:

Ansari J. Do propriospinal neurons contribute to transmission of the locomotor command signal in adult mammals?. [Masters Thesis]. University of Manitoba; 2016. Available from: http://hdl.handle.net/1993/31826

Hong Kong University of Science and Technology

16. Leung, Chun Yin. Improve walking module with path planning for NAO robot.

Degree: 2013, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html

► Bipedal humanoid walking behavior is a very hot topic in robotics research. It is a challenging topic for humanoid robots as various factors ranging from… (more)

Subjects/Keywords: Autonomous robots ; Locomotion ; Automatic control

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APA (6^th Edition):

Leung, C. Y. (2013). Improve walking module with path planning for NAO robot. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Leung, Chun Yin. “Improve walking module with path planning for NAO robot.” 2013. Thesis, Hong Kong University of Science and Technology. Accessed January 26, 2021. http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Leung, Chun Yin. “Improve walking module with path planning for NAO robot.” 2013. Web. 26 Jan 2021.

Vancouver:

Leung CY. Improve walking module with path planning for NAO robot. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2013. [cited 2021 Jan 26]. Available from: http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Leung CY. Improve walking module with path planning for NAO robot. [Thesis]. Hong Kong University of Science and Technology; 2013. Available from: http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Oregon

17. Nakamura, Bryson. Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions.

Degree: PhD, Department of Human Physiology, 2016, University of Oregon

URL: http://hdl.handle.net/1794/20544

► Lower-extremity amputees face numerous challenges when returning to daily activities. Amongst these challenges is the ability to safely and dynamically transition from one locomotor state… (more)

▼ Lower-extremity amputees face numerous challenges when returning to daily activities. Amongst these challenges is the ability to safely and dynamically transition from one locomotor state to another. Switching between level-ground, ramp, and stair locomotion poses an increased risk as lower-extremity functionality is compromised. Powered prosthetics have been proposed as a solution to this problem. Hypothetically, powered prosthetics would be able to return full functional to the amputated limb. The most common and successful source of information used in algorithms for lower-extremity prosthetics has been electromyography. However, in practice, amputees remain unable to easily actuate the mechanized joints of powered prostheses. Therefore, the current project aimed to identify myoelectric activation differences in lower-extremity musculature during the gait cycles preceding locomotor transition in able-bodied, trans-tibial, and trans-femoral subjects to assist efforts in developing robust classification algorithms for locomotor transitions. Analysis of electromyography was completed to determine if there were periods of activation where classification algorithms could utilize differences in myoelectric activation to appropriately control joint actuation in a subset of eight transitions that included level-ground locomotion and switching to either ramp or stair locomotion and vice versa. Ramp transitions were fundamentally similar to level-ground locomotion and elicited no differences in myoelectric activation. Stair transitions were found to alter muscle activation patterns in able-body and trans-tibial subjects. Trans-femoral subjects differentiated from able-bodied and trans-tibial subjects due to increased recruitment pattern variability. These patterns are distinct and may suggest individual learning patterns within the trans-femoral amputee population. Further investigation of these patterns may be warranted. Findings within able-bodied and trans-tibial subjects suggest common transition based differences within each respective population. Trans-tibial classification algorithms may be developed to utilize this information, using schemes that are focused on important areas during the gait cycle. Advisors/Committee Members: Hahn, Michael (advisor).

Subjects/Keywords: Amputee; Locomotion; Ramp; Stair; Transition

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APA (6^th Edition):

Nakamura, B. (2016). Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions. (Doctoral Dissertation). University of Oregon. Retrieved from http://hdl.handle.net/1794/20544

Chicago Manual of Style (16^th Edition):

Nakamura, Bryson. “Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions.” 2016. Doctoral Dissertation, University of Oregon. Accessed January 26, 2021. http://hdl.handle.net/1794/20544.

MLA Handbook (7^th Edition):

Nakamura, Bryson. “Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions.” 2016. Web. 26 Jan 2021.

Vancouver:

Nakamura B. Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions. [Internet] [Doctoral dissertation]. University of Oregon; 2016. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/1794/20544.

Council of Science Editors:

Nakamura B. Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions. [Doctoral Dissertation]. University of Oregon; 2016. Available from: http://hdl.handle.net/1794/20544

University of Victoria

18. Lewis, Allen. Effect of stability context on cutaneous reflex modulation during treadmill walking.

Degree: School of Exercise Science, Physical and Health Education, 2011, University of Victoria

URL: http://hdl.handle.net/1828/3388

► Reflex control during walking has been shown to be specific to the behavioural context of a postural threat. Reflex modulation has been shown to be… (more)

▼ Reflex control during walking has been shown to be specific to the behavioural context of a postural threat. Reflex modulation has been shown to be influenced by perturbations to the trunk, as well as by changes to arm activity that further affected the level of postural threat. The magnitudes of EMG responses in limbs and trunk to mechanical trip perturbations were differentially modulated depending on whether or not an earth- referenced railing was held. To further understand the neural control of limb and trunk muscles during walking contexts where changes to postural stability are solely linked to arm activity, we created 3 treadmill walking tasks each with the arms engaged differently to induce three levels of postural stability. Neurologically-intact participants walked on a treadmill using normal arm swing (NORMAL), holding a wheeled walker (WALKER), or holding the handrails (HANDRAIL). Subjects ranked the tasks according to degree of perceived challenge to stability; WALKER was ranked most challenging, followed by NORMAL and then HANDRAIL. Cutaneous reflexes were evoked via constant current stimulation (5 x 1.0 ms pulses at 300 Hz) of Superficial Peroneal (SP) nerve at the foot and Superficial Radial (SR) nerve at the wrist in separate trials during each walking task. EMG was recorded ipsilateral to nerve stimulation from arm and leg muscles and bilaterally from trunk muscles. Off-line analysis was conducted on eight phases of the step cycle after phase-averaging, contingent upon the timing of stimulation in the step cycle. The number of differences in bEMG and reflexes between tasks was graded with the proximity to the source of instability at the arms, progressively increasing from the legs to the arms. The gradient in bEMG differences suggests that the mechanical constraints of each task required different levels of muscle activation that was greatest for the arms, less for the trunk and least for the legs. The similar gradient seen for reflexes suggests functionally relevant changes in neural control of arm and trunk muscles in order to maintain postural stability during in each task. However, overall there were significantly fewer differences in reflexes between tasks compared to bEMG. We suggest that the mechanical constraints of the tasks yielded more significant changes in the muscle activation while requiring far fewer task-specific changes in reflex control suggesting a conservation of some elements of the neural control mechanisms across tasks. Advisors/Committee Members: Zehr, E. Paul (supervisor), Hundza, Sandra R. (supervisor).

Subjects/Keywords: Human locomotion; reflexes; modulation

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APA (6^th Edition):

Lewis, A. (2011). Effect of stability context on cutaneous reflex modulation during treadmill walking. (Masters Thesis). University of Victoria. Retrieved from http://hdl.handle.net/1828/3388

Chicago Manual of Style (16^th Edition):

Lewis, Allen. “Effect of stability context on cutaneous reflex modulation during treadmill walking.” 2011. Masters Thesis, University of Victoria. Accessed January 26, 2021. http://hdl.handle.net/1828/3388.

MLA Handbook (7^th Edition):

Lewis, Allen. “Effect of stability context on cutaneous reflex modulation during treadmill walking.” 2011. Web. 26 Jan 2021.

Vancouver:

Lewis A. Effect of stability context on cutaneous reflex modulation during treadmill walking. [Internet] [Masters thesis]. University of Victoria; 2011. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/1828/3388.

Council of Science Editors:

Lewis A. Effect of stability context on cutaneous reflex modulation during treadmill walking. [Masters Thesis]. University of Victoria; 2011. Available from: http://hdl.handle.net/1828/3388

Virginia Tech

19. Martin V., Joseph Bacon. Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion.

Degree: MS, Mechanical Engineering, 2020, Virginia Tech

URL: http://hdl.handle.net/10919/100689

► This thesis extends a class of controllers designed to address the full dynamics of stable locomotion in quadrupedal robots. As of yet, there is no… (more)

Subjects/Keywords: Nonlinear Control; Quadrupedal Locomotion

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APA (6^th Edition):

Martin V., J. B. (2020). Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/100689

Chicago Manual of Style (16^th Edition):

Martin V., Joseph Bacon. “Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion.” 2020. Masters Thesis, Virginia Tech. Accessed January 26, 2021. http://hdl.handle.net/10919/100689.

MLA Handbook (7^th Edition):

Martin V., Joseph Bacon. “Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion.” 2020. Web. 26 Jan 2021.

Vancouver:

Martin V. JB. Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion. [Internet] [Masters thesis]. Virginia Tech; 2020. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/10919/100689.

Council of Science Editors:

Martin V. JB. Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion. [Masters Thesis]. Virginia Tech; 2020. Available from: http://hdl.handle.net/10919/100689

Virginia Tech

20. Krummel, Gregory Michael. Locomotion and Control of Cnidarian-Inspired Robots.

Degree: PhD, Mechanical Engineering, 2019, Virginia Tech

URL: http://hdl.handle.net/10919/99407

► Effective locomotion and maneuvering in aquatic environments is important for survival for marine fauna. The ability to move quickly, change direction, and tune energy consumption… (more)

▼ Effective locomotion and maneuvering in aquatic environments is important for survival for marine fauna. The ability to move quickly, change direction, and tune energy consumption for long migrations is critical for escape from predators and pursuit of prey. This controlled propulsion in terms of varying speed, turning rates, and actuation effort is of interest for the next generation of underwater vehicle design. Integration of biological functional simplicity, robustness, and superior performance enables robotic vehicles to successfully complete difficult and dynamic operational goals. Gelatinous animals known as Cnidarians employ a wide variety of propulsive methods, ranging from the simple but efficient propulsion of large jellyfish to the rapid and highly maneuverable multi-jet propulsion of colonial animals known as siphonophores. This dissertation studies how these two extremes of underwater soft body propulsion are able to achieve simple yet effective control and locomotion, and thus inform the design of effective vehicle propulsion control and actuation. Two large single bell jellyfish robots, Cyro 2 and Cyro 3, were designed and constructed to implement the simple body form and propulsive methods of large jellyfish to study the unique locomotive characteristics and fluid interactions that generate straight swimming and turning maneuvers. The other extreme of small soft-body colonies moving by multi-jet propulsion was subsequently investigated in-depth, starting with a characterization of the biological fluid jetting actions and gaits. The results of these performance capabilities were then applied to an experimental robotic model with bio-inspired construction and controls to verify an elegant but highly functional neurological control scheme and the kinematic capabilities from varying jetting gait patterns. Advisors/Committee Members: Priya, Shashank (committeechair), Mueller, Rolf (committee member), Tafti, Danesh K. (committee member), Socha, John J. (committee member).

Subjects/Keywords: jellyfish; siphonophore; robot; control; locomotion

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APA (6^th Edition):

Krummel, G. M. (2019). Locomotion and Control of Cnidarian-Inspired Robots. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/99407

Chicago Manual of Style (16^th Edition):

Krummel, Gregory Michael. “Locomotion and Control of Cnidarian-Inspired Robots.” 2019. Doctoral Dissertation, Virginia Tech. Accessed January 26, 2021. http://hdl.handle.net/10919/99407.

MLA Handbook (7^th Edition):

Krummel, Gregory Michael. “Locomotion and Control of Cnidarian-Inspired Robots.” 2019. Web. 26 Jan 2021.

Vancouver:

Krummel GM. Locomotion and Control of Cnidarian-Inspired Robots. [Internet] [Doctoral dissertation]. Virginia Tech; 2019. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/10919/99407.

Council of Science Editors:

Krummel GM. Locomotion and Control of Cnidarian-Inspired Robots. [Doctoral Dissertation]. Virginia Tech; 2019. Available from: http://hdl.handle.net/10919/99407

Michigan State University

21. Patton, James Lanphier. Forward dynamic modeling of human locomotion.

Degree: MS, Department of Material Science and Mechanics, 1993, Michigan State University

URL: http://etd.lib.msu.edu/islandora/object/etd:23895

Subjects/Keywords: Human locomotion

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APA (6^th Edition):

Patton, J. L. (1993). Forward dynamic modeling of human locomotion. (Masters Thesis). Michigan State University. Retrieved from http://etd.lib.msu.edu/islandora/object/etd:23895

Chicago Manual of Style (16^th Edition):

Patton, James Lanphier. “Forward dynamic modeling of human locomotion.” 1993. Masters Thesis, Michigan State University. Accessed January 26, 2021. http://etd.lib.msu.edu/islandora/object/etd:23895.

MLA Handbook (7^th Edition):

Patton, James Lanphier. “Forward dynamic modeling of human locomotion.” 1993. Web. 26 Jan 2021.

Vancouver:

Patton JL. Forward dynamic modeling of human locomotion. [Internet] [Masters thesis]. Michigan State University; 1993. [cited 2021 Jan 26]. Available from: http://etd.lib.msu.edu/islandora/object/etd:23895.

Council of Science Editors:

Patton JL. Forward dynamic modeling of human locomotion. [Masters Thesis]. Michigan State University; 1993. Available from: http://etd.lib.msu.edu/islandora/object/etd:23895

University of Florida

22. Lad, Susan E. Haversian Remodeling in Primate Limb Bones Effects of Loading Magnitude, Frequency, and Strain Mode.

Degree: PhD, Anthropology, 2018, University of Florida

URL: https://ufdc.ufl.edu/UFE0054010

► Haversian remodeling is the resorption and subsequent replacement of cortical bone, resulting in the formation of secondary osteons. Remodeling is a process that allows the… (more)

Subjects/Keywords: locomotion – osteon – strain – stress

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APA (6^th Edition):

Lad, S. E. (2018). Haversian Remodeling in Primate Limb Bones Effects of Loading Magnitude, Frequency, and Strain Mode. (Doctoral Dissertation). University of Florida. Retrieved from https://ufdc.ufl.edu/UFE0054010

Chicago Manual of Style (16^th Edition):

Lad, Susan E. “Haversian Remodeling in Primate Limb Bones Effects of Loading Magnitude, Frequency, and Strain Mode.” 2018. Doctoral Dissertation, University of Florida. Accessed January 26, 2021. https://ufdc.ufl.edu/UFE0054010.

MLA Handbook (7^th Edition):

Lad, Susan E. “Haversian Remodeling in Primate Limb Bones Effects of Loading Magnitude, Frequency, and Strain Mode.” 2018. Web. 26 Jan 2021.

Vancouver:

Lad SE. Haversian Remodeling in Primate Limb Bones Effects of Loading Magnitude, Frequency, and Strain Mode. [Internet] [Doctoral dissertation]. University of Florida; 2018. [cited 2021 Jan 26]. Available from: https://ufdc.ufl.edu/UFE0054010.

Council of Science Editors:

Lad SE. Haversian Remodeling in Primate Limb Bones Effects of Loading Magnitude, Frequency, and Strain Mode. [Doctoral Dissertation]. University of Florida; 2018. Available from: https://ufdc.ufl.edu/UFE0054010

University of Ontario Institute of Technology

23. Carmichael, Christopher. Spring Stepper: a makerspace controller for seated hands-free locomotion in virtual reality.

Degree: 2019, University of Ontario Institute of Technology

URL: http://hdl.handle.net/10155/1130

► Natural locomotion is crucial for improving presence in a virtual environment (VE), while also reducing simulator sickness. While research in various areas of virtual reality… (more)

Subjects/Keywords: Virtual reality; Locomotion; Makerspace

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APA (6^th Edition):

Carmichael, C. (2019). Spring Stepper: a makerspace controller for seated hands-free locomotion in virtual reality. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/1130

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Carmichael, Christopher. “Spring Stepper: a makerspace controller for seated hands-free locomotion in virtual reality.” 2019. Thesis, University of Ontario Institute of Technology. Accessed January 26, 2021. http://hdl.handle.net/10155/1130.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Carmichael, Christopher. “Spring Stepper: a makerspace controller for seated hands-free locomotion in virtual reality.” 2019. Web. 26 Jan 2021.

Vancouver:

Carmichael C. Spring Stepper: a makerspace controller for seated hands-free locomotion in virtual reality. [Internet] [Thesis]. University of Ontario Institute of Technology; 2019. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/10155/1130.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Carmichael C. Spring Stepper: a makerspace controller for seated hands-free locomotion in virtual reality. [Thesis]. University of Ontario Institute of Technology; 2019. Available from: http://hdl.handle.net/10155/1130

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Melbourne

24. Lai, Adrian. Muscle and tendon mechanical interactions during human locomotion.

Degree: 2015, University of Melbourne

URL: http://hdl.handle.net/11343/59407

► Despite the common view that muscles and tendons are two separate entities of the musculoskeletal system, their mechanical functions are inextricably linked. Muscles contract and… (more)

▼ Despite the common view that muscles and tendons are two separate entities of the musculoskeletal system, their mechanical functions are inextricably linked. Muscles contract and develop forces, which are transmitted by the tendon to the skeleton to produce joint motion. At the same time, muscles generate work while tendons store and recover elastic strain energy to maintain the exchange of mechanical energy of the body. Understanding muscle and tendon interactions is vital in gaining a full appreciation into how the human lower limb muscles coordinate and power locomotion. Furthermore, alterations in locomotion conditions such as mode and speed can vary the strategies utilised by the lower limb muscles to maintain the mechanical energy of the body as well as to develop sufficient support and propulsive force. Despite the wealth of knowledge of muscle mechanics during human locomotion, muscle fibre and tendon interactions remain unexplored because of the difficulties involved in non-invasively measuring dynamic muscle force and behaviour. Of particular interest is the influence of tendon elasticity on the muscle fibre behaviour and efficiency. In this thesis, we combined experimental data with computational muscle modelling and created a validated framework with which to investigate muscle fibre and tendon interactions in the human ankle plantar-flexors across a range of locomotion conditions from slow walking to fast running, steady-state running to sprint accelerations. Real-time, dynamic ultrasound was used to measure in-vivo muscle and tendon behaviour in the ankle plantar-flexors while computer simulations quantified muscle and tendon behaviour (length and velocity) and energetics. Together, these techniques allowed for non-invasive investigations into the influence of tendon elasticity on muscular work and the operating efficiency of the muscle fibres during human locomotion. The results of this thesis demonstrated that during human locomotion, the muscle fibres in the ankle plantar-flexors maintained high mechanical efficiency for force development as a consequence of tendon elasticity. For instance, with faster steady-state running, the ankle plantar-flexors continued to prioritise tendon elastic strain energy over muscle fibre work for generating the propulsion energy required for steady-state running. This interaction allowed the muscle fibres to develop large forces while remaining at favourable regions of their physiological force-length and force-velocity relationships. This interaction between the muscle fibres and tendon in the ankle plantar-flexors was further affirmed when in-vivo muscle fascicle and tendon behaviour were measured across a range of walking and running speeds. Thus, while muscle fibres developed the support and propulsive forces, the stretch and recoil of the elastic tendon supplemented the propulsion energy generated by the ankle plantar-flexors. Interestingly, our results also suggest that tendon elasticity exists because the muscle fibres in the ankle plantar-flexors alone…

Subjects/Keywords: biomechanics; modelling; locomotion; muscle

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APA (6^th Edition):

Lai, A. (2015). Muscle and tendon mechanical interactions during human locomotion. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/59407

Chicago Manual of Style (16^th Edition):

Lai, Adrian. “Muscle and tendon mechanical interactions during human locomotion.” 2015. Doctoral Dissertation, University of Melbourne. Accessed January 26, 2021. http://hdl.handle.net/11343/59407.

MLA Handbook (7^th Edition):

Lai, Adrian. “Muscle and tendon mechanical interactions during human locomotion.” 2015. Web. 26 Jan 2021.

Vancouver:

Lai A. Muscle and tendon mechanical interactions during human locomotion. [Internet] [Doctoral dissertation]. University of Melbourne; 2015. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/11343/59407.

Council of Science Editors:

Lai A. Muscle and tendon mechanical interactions during human locomotion. [Doctoral Dissertation]. University of Melbourne; 2015. Available from: http://hdl.handle.net/11343/59407

University of Southern California

25. Harbick, Kale. Design and control of a two-mode monopod.

Degree: PhD, Computer Science (Robotics & Automation), 2008, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1857

► Legged machines can traverse terrain unreachable by wheels or tracks. Similarly running machines have capabilities that exceed those of walking machines. The running machines constructed… (more)

Subjects/Keywords: locomotion; hopping

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APA (6^th Edition):

Harbick, K. (2008). Design and control of a two-mode monopod. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1857

Chicago Manual of Style (16^th Edition):

Harbick, Kale. “Design and control of a two-mode monopod.” 2008. Doctoral Dissertation, University of Southern California. Accessed January 26, 2021. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1857.

MLA Handbook (7^th Edition):

Harbick, Kale. “Design and control of a two-mode monopod.” 2008. Web. 26 Jan 2021.

Vancouver:

Harbick K. Design and control of a two-mode monopod. [Internet] [Doctoral dissertation]. University of Southern California; 2008. [cited 2021 Jan 26]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1857.

Council of Science Editors:

Harbick K. Design and control of a two-mode monopod. [Doctoral Dissertation]. University of Southern California; 2008. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1857

University of Arizona

26. Miller, Julie Elizabeth. Wandering Behavior in Manduca Sexta: Investigating Steroid Hormone Effects on Neural Circuits For Locomotor Behavior .

Degree: 2005, University of Arizona

URL: http://hdl.handle.net/10150/194073

► Steroid hormones alter the excitability of neural circuits for motor behavior in vertebrates and invertebrates. The insect Manduca sexta, with its well-characterized developmental and endocrinological… (more)

▼ Steroid hormones alter the excitability of neural circuits for motor behavior in vertebrates and invertebrates. The insect Manduca sexta, with its well-characterized developmental and endocrinological history, is a useful model system to study these effects. The wandering behavior is a stage-specific locomotor behavior triggered by the steroid hormone 20-hydroxyecdysone (20E) and consists of crawling and burrowing movements as the animal searches for a pupation site.The results of this dissertation show that 20E acts on the isolated larval nervous system to induce wandering activity. The mechanisms underlying the generation of this activity share features similar to other invertebrate systems, including the presence of segmental central pattern generating circuits. The time course for the nervous system response to 20E is long, suggestive of a genomic mechanism of action, and there are no earlier rapid effects of 20E on the intrinsic membrane properties of the abdominal motoneurons. The site of 20E action in inducing wandering locomotion is unlikely to be the abdominal motoneurons, but interneurons presynaptic to these motoneurons. One possible site of 20E action is the brain, which shows stage-dependent expression of ecdysteroid receptors in certain populations of neurons.Descending regulation by the brain and subesophageal ganglion (SEG) is exerted over the segmental motor circuits for crawling and burrowing and reflects stage-dependent differences. Prior to wandering, the brain exerts inhibition over the segmental motor circuits for crawling, but this inhibition is not present during wandering. Removal of the brain, SEG, and thoracic ganglia during on-going fictive locomotion alters the phase relationships between abdominal segments. Further alterations of fictive crawling motor output are observed in more reduced preparations, indicating the importance of intact connections between abdominal ganglia in the production of a reliable motor program. The SEG drives the fictive burrowing motor program. The burrowing motor program is more robustly expressed in nerve cords from wandering larvae, suggesting a stage-dependent difference due to 20E exposure. Subsequent future experiments will use electrophysiological methods and genetic manipulations in Manduca sexta and Drosophila melanogaster, respectively, to explore target sites for hormone action in the brain and the characterization of brain neurons that drive wandering behavior. Advisors/Committee Members: Levine, Richard B (advisor), Tolbert, Leslie P. (committeemember), Rance, Naomi E. (committeemember), Yool, Andrea J. (committeemember), Gruener, Raphael P. (committeemember), Fregosi, Ralph F. (committeemember).

Subjects/Keywords: hormones; locomotion

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APA (6^th Edition):

Miller, J. E. (2005). Wandering Behavior in Manduca Sexta: Investigating Steroid Hormone Effects on Neural Circuits For Locomotor Behavior . (Doctoral Dissertation). University of Arizona. Retrieved from http://hdl.handle.net/10150/194073

Chicago Manual of Style (16^th Edition):

Miller, Julie Elizabeth. “Wandering Behavior in Manduca Sexta: Investigating Steroid Hormone Effects on Neural Circuits For Locomotor Behavior .” 2005. Doctoral Dissertation, University of Arizona. Accessed January 26, 2021. http://hdl.handle.net/10150/194073.

MLA Handbook (7^th Edition):

Miller, Julie Elizabeth. “Wandering Behavior in Manduca Sexta: Investigating Steroid Hormone Effects on Neural Circuits For Locomotor Behavior .” 2005. Web. 26 Jan 2021.

Vancouver:

Miller JE. Wandering Behavior in Manduca Sexta: Investigating Steroid Hormone Effects on Neural Circuits For Locomotor Behavior . [Internet] [Doctoral dissertation]. University of Arizona; 2005. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/10150/194073.

Council of Science Editors:

Miller JE. Wandering Behavior in Manduca Sexta: Investigating Steroid Hormone Effects on Neural Circuits For Locomotor Behavior . [Doctoral Dissertation]. University of Arizona; 2005. Available from: http://hdl.handle.net/10150/194073

Clemson University

27. Palecek, Amanda Marie. The Influence of Water Depth on the Locomotor Kinematics of the Chilean Flamingo (Phoenicopterus chilensis).

Degree: MS, Biological Sciences, 2019, Clemson University

URL: https://tigerprints.clemson.edu/all_theses/3221

► Vertebrates exhibit a diverse range of locomotor modes and associated morphological structures. Although many vertebrates can be classified as using distinct aquatic or terrestrial… (more)

Subjects/Keywords: Bipedal; Birds; Kinematics; Locomotion; Wading

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APA (6^th Edition):

Palecek, A. M. (2019). The Influence of Water Depth on the Locomotor Kinematics of the Chilean Flamingo (Phoenicopterus chilensis). (Masters Thesis). Clemson University. Retrieved from https://tigerprints.clemson.edu/all_theses/3221

Chicago Manual of Style (16^th Edition):

Palecek, Amanda Marie. “The Influence of Water Depth on the Locomotor Kinematics of the Chilean Flamingo (Phoenicopterus chilensis).” 2019. Masters Thesis, Clemson University. Accessed January 26, 2021. https://tigerprints.clemson.edu/all_theses/3221.

MLA Handbook (7^th Edition):

Palecek, Amanda Marie. “The Influence of Water Depth on the Locomotor Kinematics of the Chilean Flamingo (Phoenicopterus chilensis).” 2019. Web. 26 Jan 2021.

Vancouver:

Palecek AM. The Influence of Water Depth on the Locomotor Kinematics of the Chilean Flamingo (Phoenicopterus chilensis). [Internet] [Masters thesis]. Clemson University; 2019. [cited 2021 Jan 26]. Available from: https://tigerprints.clemson.edu/all_theses/3221.

Council of Science Editors:

Palecek AM. The Influence of Water Depth on the Locomotor Kinematics of the Chilean Flamingo (Phoenicopterus chilensis). [Masters Thesis]. Clemson University; 2019. Available from: https://tigerprints.clemson.edu/all_theses/3221

28. Papaioannou, George. A three dimensional mathematical model of the human knee.

Degree: PhD, 1999, University of Strathclyde

URL: http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556

► Muscle and joint force during locomotion is estimated according to available formulations consistent with available methods of solving the indeterminate problem. In the case of… (more)

Subjects/Keywords: 571.4; Locomotion

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APA (6^th Edition):

Papaioannou, G. (1999). A three dimensional mathematical model of the human knee. (Doctoral Dissertation). University of Strathclyde. Retrieved from http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556

Chicago Manual of Style (16^th Edition):

Papaioannou, George. “A three dimensional mathematical model of the human knee.” 1999. Doctoral Dissertation, University of Strathclyde. Accessed January 26, 2021. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556.

MLA Handbook (7^th Edition):

Papaioannou, George. “A three dimensional mathematical model of the human knee.” 1999. Web. 26 Jan 2021.

Vancouver:

Papaioannou G. A three dimensional mathematical model of the human knee. [Internet] [Doctoral dissertation]. University of Strathclyde; 1999. [cited 2021 Jan 26]. Available from: http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556.

Council of Science Editors:

Papaioannou G. A three dimensional mathematical model of the human knee. [Doctoral Dissertation]. University of Strathclyde; 1999. Available from: http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556

University of Waterloo

29. Choudhury, Safwan. Design and Gait Synthesis for a 3D Lower Body Humanoid.

Degree: 2013, University of Waterloo

URL: http://hdl.handle.net/10012/7170

► Bipedal locomotion is a challenging control engineering problem due to the non-linear dynamics and postural instability of the bipedal form. In addition to these challenges,… (more)

▼ Bipedal locomotion is a challenging control engineering problem due to the non-linear dynamics and postural instability of the bipedal form. In addition to these challenges, some dynamical effects such as the ground reaction force are difficult to model accurately in simulation. To this end, it is essential to develop physical hardware to validate walking control strategies and gait generation methods. This thesis develops an on-line walking control strategy for humanoid robots and the electromechanical design of a physical platform for experimental validation. The first part of the thesis presents the development of a 14 degrees-of-freedom (DOF) lower body humanoid robot. The initial electromechanical design of the proposed system is derived from dynamic modeling of a general multibody system. Kinematic trajectories for the lower body joints are extracted from motion captured human gait data to form the preliminary design specifications. The drivetrain components are selected by analyzing the mechanical power requirements, torque-speed profiles, efficiency and thermal characteristics of actuators. The supporting mechanical chassis and power transmission system are designed to raise the center-of-mass (to reduce the swinging inertia of each leg) while minimizing the overall weight of the system. Refining the design of a complex multibody robotic system like the biped is an iterative process. The mechanical model of the system is transferred from Computer-Aided-Design (CAD) software to a dynamic simulator for analysis and the design is revised to improve performance. This iterative approach is necessary as small changes in the mechanical model can have significant impact on the overall dynamics of the system as well as implications for control design. A streamlined prototyping toolchain is developed in this thesis to extract the relevant kinematic/dynamic parameters of a mechanical system in CAD and automatically generate the equivalent system in a dynamic simulator. This toolchain is used to revise the electromechanical design and generate forward dynamics simulations. The second portion of this thesis develops a novel walking control strategy for on-line gait synthesis for 3D bipedal robots based on Wight's Foot Placement Estimator (FPE) algorithm. This algorithm is used to determine the desired swing foot position on the ground to \emph{restore} balance for a 2D bipedal robot. The FPE algorithm is extended to the general 3D case by selecting a suitable plane in the desired direction of motion. Complete gait cycles are formed by combining a finite state machine with the 2D FPE solution along the selected plane. Gait initiation is accomplished by computing state-dependent task space trajectories on-line to produce a forward momentum along the selected plane. A whole-body motion control framework (Jacobian-based prioritized task space control scheme) tracks the task space trajectories and generates the appropriate joint level command for each state. The joint level commands are tracked by local high gain…

Subjects/Keywords: biped; gait; electromechanical; locomotion

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APA (6^th Edition):

Choudhury, S. (2013). Design and Gait Synthesis for a 3D Lower Body Humanoid. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/7170

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Choudhury, Safwan. “Design and Gait Synthesis for a 3D Lower Body Humanoid.” 2013. Thesis, University of Waterloo. Accessed January 26, 2021. http://hdl.handle.net/10012/7170.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Choudhury, Safwan. “Design and Gait Synthesis for a 3D Lower Body Humanoid.” 2013. Web. 26 Jan 2021.

Vancouver:

Choudhury S. Design and Gait Synthesis for a 3D Lower Body Humanoid. [Internet] [Thesis]. University of Waterloo; 2013. [cited 2021 Jan 26]. Available from: http://hdl.handle.net/10012/7170.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Choudhury S. Design and Gait Synthesis for a 3D Lower Body Humanoid. [Thesis]. University of Waterloo; 2013. Available from: http://hdl.handle.net/10012/7170

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Guelph

30. Pufall, Amanda. The Effects of Three Styles of Commercial Rearing Aviaries on the Locomotion and Musculoskeletal Development of Pullets.

Degree: MS, Department of Animal Biosciences, 2020, University of Guelph

URL: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17986

► This research aimed to compare locomotion and musculoskeletal characteristics of white- and brown-feathered strains of pullets reared in three different styles of commercial rearing aviaries.… (more)

Subjects/Keywords: pullet; rearing; aviary; locomotion; musculoskeletal

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APA (6^th Edition):

Pufall, A. (2020). The Effects of Three Styles of Commercial Rearing Aviaries on the Locomotion and Musculoskeletal Development of Pullets. (Masters Thesis). University of Guelph. Retrieved from https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17986

Chicago Manual of Style (16^th Edition):

Pufall, Amanda. “The Effects of Three Styles of Commercial Rearing Aviaries on the Locomotion and Musculoskeletal Development of Pullets.” 2020. Masters Thesis, University of Guelph. Accessed January 26, 2021. https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17986.

MLA Handbook (7^th Edition):

Pufall, Amanda. “The Effects of Three Styles of Commercial Rearing Aviaries on the Locomotion and Musculoskeletal Development of Pullets.” 2020. Web. 26 Jan 2021.

Vancouver:

Pufall A. The Effects of Three Styles of Commercial Rearing Aviaries on the Locomotion and Musculoskeletal Development of Pullets. [Internet] [Masters thesis]. University of Guelph; 2020. [cited 2021 Jan 26]. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17986.

Council of Science Editors:

Pufall A. The Effects of Three Styles of Commercial Rearing Aviaries on the Locomotion and Musculoskeletal Development of Pullets. [Masters Thesis]. University of Guelph; 2020. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17986

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