Abstract:
This talk focuses on the use of synthetic models for investigating the interaction between morphology and control in human locomotion. The first part describes the use of biomimetic models of human biomechanics and spinal neural control, which have been developed to understand the role of spinal neural pathways known to be involved in the control of locomotion. The second part describes the use of abstract models developed to uncover the principles underlying the control of locomotion. These include simulation studies of lower body biped robots, as well as the development of real legged robots which can hop and walk. The results of these studies provide new insights into the way neural control can interact with the physical dynamics of the body during human locomotion.