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Aversi-Ferreira, Roqueline Ametila Glória Martins de Freitas. "Anatomia comparativa de vasos do membro pélvico de Sapajus spp. com alguns comentários sobre bipedalismo." reponame:Repositório Institucional da UnB, 2015. http://dx.doi.org/10.26512/2015.05.T.18753.
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Tese (doutorado)—Universidade de Brasília, Instituto de Ciências Biológicas, Programa de Pós-Graduação em Biologia Animal, 2015.Submitted by Raquel Viana (raquelviana@bce.unb.br) on 2015-11-12T18:34:07Z No. of bitstreams: 1 2015_RoquelineAmetilaeGlóriaMartinsdeFreitasAversiFerreira.pdf: 32857028 bytes, checksum: fd28dfc8cb8006539ad7a74825170bcc (MD5)
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Os macacos-pregos são conhecidos por exibir bipedalismo intermitente enquanto realizam tarefas específicas, como quebrar castanhas. A locomoção bipedal e manutenção da postura ocorre as expensas de um alto custo metabólico gerando a necessidade de um rico suprimento sanguíneo para os membros inferiores. Neste trabalho, foram feitas descrições anatômica das artérias e veias do membro pélvico de Sapajus libidinosus (macacos-prego) e comparadas com as de outros primatas. O padrão arterial do membro pélvico de macaco-prego é mais similar a outras espécies quadrúpedes de Cebus, principalmente. Semelhanças também foram encontradas em Papio, provavelmente porque compartilham uma estrutura pélvica semelhante e à presença de cauda. O padrão venoso observado em Sapajus é menos similar ao dos pongídeos e humanos modernos. Além disso, o macaco-prego apresenta um padrão único para as veias femoral e safena parva. Embora estas espécies alterem facilmente entre as posturas quadrúpede e bípede, os resultados indicam que o macaco-prego não possui características específicas ou diferenciais que suportam a postura ou locomoção bípede. Deste modo, a explicação para as diferenças de comportamento locomotor encontradas no gênero de pregos, provavelmente inclui outros aspectos de sua fisiologia.
Capuchin monkeys are known to exhibit sporadic bipedalism while performing specific tasks, such as cracking nuts. The bipedal posture and locomotion cause an increase in the metabolic cost and therefore increased blood supply to lower limbs is necessary. Here, we present a detailed anatomical description of the capuchin arteries and veins of the pelvic limb of Sapajus libidinosus in comparison with other primates. The arterial pattern of the bearded capuchin hind limb is more similar to other quadrupedal Cebus species. Similarities were also found to the pattern observed in the quadruped Papio, which is probably due to a comparable pelvis and the presence of the tail. Sapajus' traits show fewer similarities when compared to great apes and modern humans. Moreover, the bearded capuchin showed unique patterns for the femoral and the short saphenous veins. Although this species switches easily from quadrupedal to bipedal postures, our results indicate that the bearded capuchin has no specific or differential features that support extended bipedal posture and locomotion. Thus, the explanation for the behavioral differences found among capuchin genera probably includes other aspects of their physiology.
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Marchioreto, Fábio. "A importância do movimentar-se para a vida humana: aspectos históricos, educacionais e do cotidiano." Universidade Presbiteriana Mackenzie, 2015. http://tede.mackenzie.br/jspui/handle/tede/1928.
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Previous issue date: 2015-02-06This work, which deals with the importance of movement to human life, aimed to qualify the school experiences related to the movement of young people, specifically the ones learned in school and that remained in their everyday lives, what from these experiments meant learning of knowledge related to the movement in the historical and evolutionary perspective of humanity and its projections for the future (biocybernetics). It is theoretically grounded in ideas of some authors, like Jose Guilmar Mariz de Oliveira, Go Tani, Edison Jesus Manoel on Human Kinesiology, Richard Dawkins, Richard Foley, Jared Diamond, Richard Leakey history of evolution, Michel Foucault, Edgar Morin on aspects related to school education and the simplifier, disciplinarian and dualistic paradigm. The research followed the guidelines of the phenomenological method as the speech and gestures of students who are finishing the School Basic Education in São Paulo. The reflection made from the data analysis indicated students difficulty in articulating answers related to the movement in the history of culture, showing a lack of repertoire for dealing with the topic. As for the future, they forecasted a paradoxical situation between moving and cybernetics by, on the one hand, pointing out benefits like bipedal locomotion recovery and on the other hand to identify the future of human-machine interface as something dark by increasing human sedentary lifestyle. Regarding movement in the students school environment, they identified a dichotomy between the near absence of movement in the classes that take place in the classroom and the movement in Physical Education classes. However, by describing the experiences related to Physical Education classes, they interpreted this curriculum component as disconnected from the commitment to teach conceptual, procedural and attitudinal knowledge, what added little or nothing to their everyday lives.
Este trabalho trata da importância do movimentar-se para a vida humana com o objetivo de qualificar as experiências escolares de jovens relacionadas ao que aprenderam na escola e permaneceu em suas vidas cotidianas; o que destas experiências significou a aprendizagem de conhecimento relativo ao movimentar-se na perspectiva histórico-evolutiva da humanidade e suas projeções para o futuro (biocibernética). Fundamentou-se teoricamente em ideias de alguns autores, como José Guilmar Mariz de Oliveira, Go Tani, Edison de Jesus Manoel sobre a Cinesiologia Humana, Richard Dawkins, Richard Foley, Jared Diamond, Richard Leakey e a História Evolutiva, Michel de Foucault, Edgar Morin sobre os aspectos relacionados a Educação Escolar e o paradigma simplificador, disciplinador e dualista. A pesquisa seguiu as diretrizes do método fenomenológico de investigação ao registrar a fala e os gestos de alunos que estão terminando a Educação Escolar Básica na cidade de São Paulo. A reflexão realizada a partir da análise dos dados evidenciou uma dificuldade dos alunos na articulação das respostas relacionadas ao movimentar-se na história da cultura, mostrando falta de repertório para lidar com o tema. Com relação ao futuro projetaram uma situação paradoxal entre o movimentar-se e a cibernética, ao apontar benefícios como a recuperação da locomoção bípede por um lado e por outro ao identificar o futuro da relação humano-máquina como algo sombrio através da crescente sedentarização humana. Com relação ao movimentar-se no ambiente escolar os alunos identificaram uma dicotomia entre a quase ausência de movimento nas aulas que acontecem na sala de aula e o movimentar-se nas aulas de Educação Física, porém, ao qualificar as experiências relacionadas às aulas de Educação Física, interpretaram este componente curricular como desarticulado do compromisso de ensinar conhecimentos conceituais, procedimentais e atitudinais, o que pouco ou quase nada contribui para suas vidas cotidianas.
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Wong, Chor-fai Terence. "A gyroscopic approach to biped dynamic walking /." Hong Kong : University of Hong Kong, 1998. http://sunzi.lib.hku.hk/hkuto/record.jsp?B2073170X.
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Hsu, Wei-Li. "Multi-joint coordination underlies upright postural control." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 218 p, 2008. http://proquest.umi.com/pqdweb?did=1601513351&sid=3&Fmt=2&clientId=8331&RQT=309&VName=PQD.
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Kramer, Patricia Ann. "Locomotor energetics and limb length in hominid bipedality /." Thesis, Connect to this title online; UW restricted, 1998. http://hdl.handle.net/1773/6428.
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Wang, Weijie. "The mechanics of bipedalism in relation to load-carrying : biomechanical optima in hominid evolution." Thesis, University of Liverpool, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.367199.
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Knox, Craig A. "A model for morphological change in the hominid vestibular system in association with the rise of bipedalism." Virtual Press, 2007. http://liblink.bsu.edu/uhtbin/catkey/1371468.
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This study re-examines the morphological data and conclusions of Spoor, Wood, and Zonneveld concerning the morphology of the vestibular apparatus in relation to locomotor behavior in hominids (1994). The pedal and labyrinthine morphology of early hominid taxa are functionally analyzed for classification as either obligate bipeds or habitual bipeds with primarily arboreal locomotion. The bony labyrinth is investigated since the anatomy of the semicircular canals of the vestibular auditory system can be determined in fossil crania through computed tomographical analysis. It is thought that a relationship exists between semicircular canal size and locomotor behavior. Functionally modern pedal morphology precedes modern vestibular morphology in the fossil record. Complete modern pedal morphology, however, appears concurrently with modern vestibular morphology first at Homo erectus. A comparison of the genes involved in the development of both pedal and labyrinthine morphology was undertaken. It was found that only fibroblast growth factor 8 (FgfS) and sonic hedgehog (Shh) are shared between these systems in the determination of positional information. It is found that the function of Fgf8 in otic induction and in limb bud formation is very different. It is also found that the function of Shh in vestibular and pedal morphogenesis is different. Therefore, it is unlikely for alteration in the function or in the expression of either gene to result in the observed differences in pedal and vestibular morphology between early hominid taxa: Australopithecus afarensis, Australopithecus africanus, Homo habilis; and Homo erectus. My examination of the data on the timing of changes in pedal morphology rejects Spoor, Wood, and Zonneveld's conclusion. Moreover I find no gene mutation which could account for simultaneous change in the shape of the semicircular canals and the proportions of the metatarsals and pedal phalanges. Instead, it is postulated that the change to modern vestibular morphology at Homo erectus is in response to a concurrent enlargement in cranial capacity. It is also postulated that persistence of panid vestibular morphology in the semicircular canals of hominid taxa: Australopithecus afarensis, Australopithecus africanus, and Homo habilis is a functionally neutral trait in regard to bipedal locomotor capability.Department of Anthropology
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Proctor, Daniel Jason. "Three-dimensional morphometrics of the proximal metatarsal articular surfaces of Gorilla, Pan, Hylobates, and shod and unshod humans." Diss., University of Iowa, 2010. https://ir.uiowa.edu/etd/725.
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There is debate about how fossil hominin pedal morphology relates to terrestrial habits. Were early hominins adapted to a bipedal lifestyle with a significant arboreal component, or were they more dedicated to a terrestrial lifestyle? The proximal articular surfaces of the metatarsals (MT) are examined in Gorilla, Pan, Hylobates, and habitually shod and unshod Homo using three-dimensional morphometrics. The results for MT 1 show three trends. OH 8 (Homo habilis) is indistinguishable from humans, specimens SKX 5017 and SK 1813 (Paranthropus robustus) are apelike, and all other fossil 1st metatarsals are intermediate in shape between humans and apes.
The MT 2 and MT 3 analyses show that humans have a narrower surface that is expanded in the plantar aspect relative to apes. These features increase joint stability for the human longitudinal arch. The MT 2 fossils for Stw 573d (Little Foot) and OH 8 are humanlike. The MT 2 specimen of SKX 247 (possibly Paranthropus) is apelike, while all other MT 2 fossils are intermediate between humans and apes. In the MT 3 analysis, Stw 387, Stw 496, Stw 388, and OH 8 metatarsals are humanlike in shape, while Stw 435 and Stw 477 are intermediate between humans and apes. The MT 3 surface of Hylobates is markedly convex, suggesting that the midfoot break in gibbons extends to include this joint in addition to the MT 4 and MT 5 tarsometatarsal joints.
The results of the MT 4 analysis show a highly convex surface in apes, with Hylobates extending further to the dorsal aspect of this metatarsal, with a greater range of motion at the midfoot break compared to the African apes. The MT 4 specimens of OH 8 and Stw 628 show greater morphological affiliation with humans.
The MT 5 analysis shows that Pan and Hylobates have a medio-laterally extended and concave articular surface that is convex in the dorso-plantar plane. The two human groups are narrower and flatter in the medio-lateral plane, with a little dorso-plantar convexity. There is overlap in shape patterns between groups in the MT 5 analysis. Greatest similarity is between humans and Gorilla. The MT 5 fossil specimens tend to show closer affiliation to humans and Gorilla.
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Zylstra, Myriam. "Functional morphology of the hominoid forelimb, implications for knuckle-walking and the origin of hominid bipedalism." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape2/PQDD_0022/NQ50067.pdf.
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Payne, Rachel C. "Musculoskeletal adaptations for climbing in hominoids and their role as exaptions for the acquisition of bipedalism." Thesis, University of Liverpool, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.367705.
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Tourkakis, Christine A. "Savanna chimpanzees (Pan troglodytes verus) as a referential model for the evolution of habitual bipedalism in hominids." [Ames, Iowa : Iowa State University], 2009.
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Yik, Tak Fai Computer Science & Engineering Faculty of Engineering UNSW. "Locomotion of bipedal humanoid robots: planning and learning to walk." Awarded by:University of New South Wales. Computer Science & Engineering, 2007. http://handle.unsw.edu.au/1959.4/40446.
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Pure reinforcement learning does not scale well to domains with many degrees of freedom and particularly to continuous domains. In this thesis, we introduce a hybrid method in which a symbolic planner constructs all approximate solution to a control problem.. Subsequently, a numerical optimisation algorithm is used to refine the qualitative plan into an operational policy. The method is demonstrated on the problem of learning a stable walking gait for a bipedal robot. The contributions of this thesis are as follows. Firstly, the thesis proposes a novel way to generate gait patterns by using a genetic algorithm to generate walking gaits for a humanoid robot using zero moment point as the stability criterion. This is validated on physical robot. Second, we propose an innovative generic learning method that utilises the trainer's domain knowledge about the task to accelerate learning and extend the capabilities of the learning algorithm. The proposed method, which takes advantage of domain knowledge and combines symbolic planning and learning to accelerate and reduce the search space of the learning problem, is tested on a bipedal humanoid robot learning to walk. Finally, it is shown that the extended capability of the learning algorithm handles high complexity learning tasks in the physical world with experimental verification on a physical robot.
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黃楚輝。 and Chor-fai Terence Wong. "A gyroscopic approach to biped dynamic walking." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1998. http://hub.hku.hk/bib/B31221890.
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Geng, Tao. "Fast biped walking with a neuronal controller and physical computation." Thesis, University of Stirling, 2007. http://hdl.handle.net/1893/141.
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Biped walking remains a difficult problem and robot models can greatly {facilitate} our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network, which is governed mainly by local sensor signals. This study shows that human-like gaits emerge without {specific} position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (AEA=Anterior Extreme Angle and GC=Ground Contact) which operate at the inter-joint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motorneurons in our reflexive controller are directly driving the motors of the joints, rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuro-mechanical system and this study emphasises that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using two real robot as well as by a Poincar\' map analysis applied on a model of the robot in order to assess its stability. In addition, this neuronal control structure allows the use of a policy gradient reinforcement learning algorithm to tune the parameters of the neurons in real-time, during walking. This way the robot can reach a record-breaking walking speed of 3.5 leg-lengths per second after only a few minutes of online learning, which is even comparable to the fastest relative speed of human walking.
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Henderson, Donald Mackenzie. "A mathematical and computational analysis of the biomechanics of walking theropod dinosaurs." Thesis, University of Bristol, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.297709.
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Carey, Tanya Suzanne. "The energetics of 'bent-hip, bent-knee' walking in humans: implications for the evolution of bipedalism in early hominids." Thesis, University of Liverpool, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.367640.
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Cheng, Ming-Yang. "Control design and robustness measurement for biped locomotion /." free to MU campus, to others for purchase, 1996. http://wwwlib.umi.com/cr/mo/fullcit?p9809672.
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Machnicki, Allison L. "An Anatomical and Genetic Analysis of the Ceboid Lumbosacral Transition and its Relevance to Upright Gait." Kent State University Honors College / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=ksuhonors1335810343.
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Foster, Adam D. "The developmental origins and functional role of postcranial adaptive morphology in human bipedal anatomy." Diss., The University of Arizona, 2014. http://hdl.handle.net/10150/333343.
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When considering the array of terrestrial locomotor behaviors, bipedalism is a particularly rare way of moving about the landscape. In fact, humans are the only obligate terrestrial mammalian bipeds. Therefore, understanding both how and why it evolved is particularly intriguing. However, there is debate over why the evolution of bipedalism occurred and there is a large gap in knowledge for the mechanisms that underpin the evolution of these adaptive morphologies. One complicating factor for sorting out which models best explain how our hominin ancestors became bipedal is that they all rely on the same set of traits. Moreover, many of the traits that are thought to be diagnostic of bipedalism are only linked by association and have not been experimentally tested. That is, they do not appear in non-human primates and other quadrupeds. Therefore, addressing why the evolution of bipedalism occurred requires understanding the adaptive significance of traits linked with bipedalism. In this dissertation, I use an experimental approach employing both human and animal models to explore links between morphology and behavior and to tease apart the adaptive significance of particular traits. For the human portion of the dissertation, I use an inverse dynamics approach (estimating muscle forces from kinematic, kinetic, and anatomical data) to determine how modern human anatomy functions while walking using ape-like postures to clarify the links between morphology and energy costs in different mechanical regimes to determine the adaptive significance of postcranial anatomy. The results from this portion of the dissertation suggest that adopting different joint postures results in higher energy costs in humans due to an increase in active muscle volumes at the knee. These results lead to two conclusions important for understanding the evolution of human bipedalism. One is that human anatomy maintains low energy costs of walking in humans compared to chimpanzees regardless of lower limb postures. Second, the results suggest that erect trunk posture may be an important factor in reducing energy costs, therefore indicating that lumbar lordosis (the curvature of the lower spine) is important for reducing costs. For the animal portion of the dissertation, I use rats as a model for the quadrupedal-to-bipedal transition and experimentally induce bipedal posture and locomotion under a variety of loading conditions to determine if traits consistent with the evolution of bipedalism occur and under what conditions. This experimental design also has the ability to determine if there is a role for developmental plasticity in generating bipedal morphology to help answer the question how the evolution of bipedalism occurred. I find that inducing bipedal behaviors in a quadrupedal animal generates morphology consistent with human bipedal traits and that loading conditions have specific effects in different skeletal elements and at particular joints. I also find that there is a plausible role for developmental plasticity in generating adaptive bipedal morphology in the earliest hominins. Overall, the results from the experimental procedures in this dissertation were able to clarify links between behavior and bipedal morphology, demonstrate a plausible role for developmental plasticity in early adaptation to bipedal behavior in australopiths, determine the adaptive significance of human postcranial anatomy, and the ways in which postcranial anatomy reduces costs.
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Juang, Jih-Gau. "Robotic gait synthesis and control design using neural and fuzzy networks approaches /." free to MU campus, to others for purchase, 1998. http://wwwlib.umi.com/cr/mo/fullcit?p9924894.
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Jelenc, Kelsey E. "The effect of bipedal infant-carrying on pelvis-shoulder kinematics and coordination." University of Cincinnati / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1377873821.
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Webber, James T., and David A. Raichlen. "The role of plantigrady and heel-strike in the mechanics and energetics of human walking with implications for the evolution of the human foot." COMPANY OF BIOLOGISTS LTD, 2016. http://hdl.handle.net/10150/622583.
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Human bipedal locomotion is characterized by a habitual heel-strike (HS) plantigrade gait, yet the significance of walking foot-posture is not well understood. To date, researchers have not fully investigated the costs of non-heel-strike (NHS) walking. Therefore, we examined walking speed, walk-to-run transition speed, estimated locomotor costs (lower limb muscle volume activated during walking), impact transient (rapid increase in ground force at touchdown) and effective limb length (ELL) in subjects (n=14) who walked at self-selected speeds using HS and NHS gaits. HS walking increases ELL compared with NHS walking since the center of pressure translates anteriorly from heel touchdown to toe-off. NHS gaits led to decreased absolutewalking speeds (P=0.012) and walk-to-run transition speeds (P=0.0025), and increased estimated locomotor energy costs (P<0.0001) compared with HS gaits. These differences lost significance after using the dynamic similarity hypothesis to account for the effects of foot landing posture on ELL. Thus, reduced locomotor costs and increased maximum walking speeds in HS gaits are linked to the increased ELL compared with NHS gaits. However, HS walking significantly increases impact transient values at all speeds (P<0.0001). These trade-offs may be key to understanding the functional benefits of HS walking. Given the current debate over the locomotor mechanics of early hominins and the range of foot landing postures used by nonhuman apes, we suggest the consistent use of HS gaits provides key locomotor advantages to striding bipeds and may have appeared early in hominin evolution.
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Eng, Carolyn Margaret. "An Anatomical and Biomechanical Study of the Human Iliotibial Band's Role in Elastic Energy Storage." Thesis, Harvard University, 2014. http://dissertations.umi.com/gsas.harvard:11621.
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The iliotibial band (ITB) is a complex structure that is unique to humans among apes and is derived from the fascia lata (FL) of the thigh. Although the ITB evolved in the hominin lineage, it is unclear whether it evolved to improve locomotor economy, increase stability, or serve a different function. This dissertation tests the hypothesis that the ITB stores and recovers elastic energy during walking and running.Human Evolutionary Biology
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Lequin, Mathilde. "La bipédie humaine : épistémologie, paléoanthropologie, métaphysique." Thesis, Paris 10, 2015. http://www.theses.fr/2015PA100085/document.
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La paléoanthropologie utilise la bipédie comme critère d'interprétation des vestiges fossiles permettant d'établir leur appartenance à la lignée humaine. Ainsi, la bipédie devient une caractéristique propre à la lignée humaine et qui en marque l'origine. Nous identifions ici un « cercle herméneutique » de la paléoanthropologie, puisque l'humain y est défini par la bipédie et, réciproquement, tout bipédie est interprétée comme étant nécessairement humaine. Du fait de cette circularité, les traits associés à la bipédie sont surinterprétés dans la description des vestiges fossiles, qui se voient alors conférer une signification fonctionnelle et phylogénétique univoque. L'unicité de la bipédie humaine constitue un principe d'interprétation resté ininterrogé en paléoanthropologie. Ce point révèle l'attachement de cette discipline scientifique à une conception philosophique du propre de l'homme qui semble pourtant difficilement compatible avec l'approche évolutionniste. Au contraire, une véritable épistémologie de la paléoanthropologie doit mettre en perspective la signification accordée à cette caractéristique anthropologique : nous nous y employons dans cette thèse, en montrant que le concept métaphysique de « station droite » trouve son écho dans le concept naturaliste de « bipédie ». Cette continuité ou cette capillarité de la philosophie à la science est mise en évidence à travers les usages du critère de la bipédie dans la description de plusieurs espèces fossiles. De Pithecanthropus erectus à Ardipithecus ramidus, nous analysons différents modes de l'équivalence entre « bipède » et « humain ». Cette équivalence, souvent implicite, représente une source de confusion majeure pour la paléoanthropologie, impliquant un concept d’ « humain » aux contours flous. Notre épistémologie de la paléoanthropologie dégage donc différents problèmes que cette discipline se doit d'affronter pour que le débat sur l'évolution de la bipédie dans la lignée humaine puisse avancerBipedalism represents for paleoanthropology a criterion to decipher fossil records in order to establish their belonging to the human lineage. As such, bipedalism is considered as a unique characteristic of the human lineage that marks its origin. In this thesis, we identify a "hermeneutic circle" of paleoanthropology, since the human is defined by its bipedal characteristics and, conversely, any bipedalism is interpreted as necessarily human. Because of this circularity, traits associated with bipedalism are overstated in describing the fossil record, hence conferring an unambiguous functional and phylogenetic significance. The uniqueness of human bipedalism is a principle of interpretation remained unquestioned in paleoanthropology. This shows the commitment of this scientific discipline to a philosophical conception of the human uniqueness who hardly seems consistent with the evolutionary approach. On the contrary, a real epistemology of paleoanthropology has put into perspective the meaning given to this anthropological characteristic. We address this latter in showing that the metaphysical concept of "upright station" is echoed in the naturalist concept of « bipedalism ». This continuity or capillary from philosophy to science is emphasized through the use of the criterion of bipedalism in the description of several fossil species. From Pithecanthropus erectus to Ardipithecus ramidus, we analyze various modes of equivalence between "biped" and "human". This equivalence, albeit implicit, represents a major source of confusion for paleoanthropology, implying an unclear concept of « human ». Our epistemology of paleoanthropology put thus upfront several philosophical and epistemological problems that this discipline has to challenge in order to the debate on the evolution of bipedalism in the human lineage can move forward
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Yang, Tao. "Control of aperiodic walking and the energetic effects of parallel joint compliance of planar bipedal robots." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1196203534.
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Lehman, Joel. "Evolution Through the Search for Novelty." Doctoral diss., University of Central Florida, 2012. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/5394.
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I present a new approach to evolutionary search called novelty search, wherein only behavioral novelty is rewarded, thereby abstracting evolution as a search for novel forms. This new approach contrasts with the traditional approach of rewarding progress towards the objective through an objective function. Although they are designed to light a path to the objective, objective functions can instead deceive search into converging to dead ends called local optima. As a significant problem in evolutionary computation, deception has inspired many techniques designed to mitigate it. However, nearly all such methods are still ultimately susceptible to deceptive local optima because they still measure progress with respect to the objective, which this dissertation will show is often a broken compass. Furthermore, although novelty search completely abandons the objective, it counterintuitively often outperforms methods that search directly for the objective in deceptive tasks and can induce evolutionary dynamics closer in spirit to natural evolution. The main contributions are to (1) introduce novelty search, an example of an effective search method that is not guided by actively measuring or encouraging objective progress; (2) validate novelty search by applying it to biped locomotion; (3) demonstrate novelty search's benefits for evolvability (i.e. the ability of an organism to further evolve) in a variety of domains; (4) introduce an extension of novelty search called minimal criteria novelty search that brings a new abstraction of natural evolution to evolutionary computation (i.e. evolution as a search for many ways of meeting the minimal criteria of life); (5) present a second extension of novelty search called novelty search with local competition that abstracts evolution instead as a process driven towards diversity with competition playing a subservient role; and (6) evolve a diversity of functional virtual creatures in a single run as a culminating application of novelty search with local competition. Overall these contributions establish novelty search as an important new research direction for the field of evolutionary computation.ID: 031001278; System requirements: World Wide Web browser and PDF reader.; Mode of access: World Wide Web.; Adviser: Kenneth O. Stanley.; Title from PDF title page (viewed February 25, 2013).; Thesis (Ph.D.)--University of Central Florida, 2012.; Includes bibliographical references (p. 177-198).
Ph.D.
Doctorate
Computer Science
Engineering and Computer Science
Computer Science
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Le, Maître Anne. "Locomotion et morphologie du labyrinthe osseux chez les hominoïdes actuels. Application à Sahelanthropus tchadensis (Hominidae, 7 Ma, Tchad)." Thesis, Poitiers, 2015. http://www.theses.fr/2015POIT2311/document.
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L’espèce humaine est caractérisée par une forme de locomotion bipède qui lui est propre. Toumaï, l’holotype de l’espèce Sahelanthropus tchadensis découverte au Tchad, est le plus ancien représentant connu du rameau humain. Daté de 7 millions d’années, il est très proche de la dichotomie entre ce rameau et celui des chimpanzés. C’est donc un témoin précieux des premières phases de l’évolution de la locomotion dans ce groupe. Le but de ce travail est de reconstituer le comportement locomoteur de Sahelanthropus tchadensis à partir de l’étude de la partie osseuse de son labyrinthe, organe de l’équilibre.Pour cela, les relations entre locomotion et morphologie du labyrinthe osseux sont recherchées chez les hominoïdes actuels. Les covariations entre le labyrinthe et le crâne sont étudiées chez Homo sapiens afin de déterminer l’influence sur la morphologie du labyrinthe de son intégration dans le crâne. Ces résultats sont enfin appliqués au labyrinthe de Toumaï, comparé à d’autres hominines fossiles.La morphométrie géométrique discrimine l’ensemble des espèces actuelles par l’orientation, la taille et la forme relatives de chacune des parties du labyrinthe. Cependant, la torsion et l’orientation relative des canaux semi-circulaires sont majoritairement liées à l’intégration du labyrinthe dans le crâne (orientation des pyramides pétreuses et de la face par rapport à la ligne médio-sagittale du basicrâne). Au contraire, l’excentricité des canaux et leur taille sont uniquement liées à la locomotion.Chez Sahelanthropus tchadensis, la taille des canaux semi-circulaires indique une espèce relativement plus agile que les grands singes. En revanche, il ne présente pas les rotations de canaux caractéristiques du genre Homo. La forme de ses canaux constitue une combinaison unique de caractères : canal postérieur rond et canal antérieur légèrement étiré, comme les humains et les australopithèques, mais canal latéral légèrement projeté postéro-latéralement, comme les gorilles et les babouins. Ceci indiquerait un comportement locomoteur associant le grimper vertical dans les arbres à des déplacements au sol bipèdes mais aussi quadrupèdesHumans are characterised by a specific form of bipedal locomotion. Toumaï, holotype specimen of Sahelanthropus tchadensis discovered in Chad, is the oldest known member of the human branch. Dated from 7 million years ago, it is very close to the dichotomy between this branch and the branch of chimpanzees. Therefore, it gives valuable information on the first stages of the evolution of locomotion is this group. The purpose of this work is to reconstruct the locomotor behaviour of Sahelanthropus tchadensis based on the study of the osseous part of its labyrinth, the balance organ.To this aim, the relationships between the locomotion and the bony labyrinth morphology are investigated in extent hominoids. The covariations between the labyrinth and the skull are studied in Homo sapiens in order to determine the influence of cranial integration on labyrinth morphology. Finally, these results are applied to the bony labyrinth of Toumaï, compared to other hominin fossils.Geometric morphometrics discriminates all extant species by the relative orientation, size and shape of each part of the labyrinth. However, the torsion and the relative orientation of the semicircular canals are mainly due to the integration of the labyrinth in the skull (petrous pyramids and face orientations relative to the midline of the basicranium). On the contrary, canal eccentricity and size are linked only to locomotion.In Sahelanthropus tchadensis, the canal size indicates that this species was more agile than great apes. However, it does not have the semicircular canal rotations characterising the genus Homo. The shape of its canals constitutes a unique combination of features: a round posterior canal and a slightly stretched anterior canal, as in humans and australopithecines, but a slightly posterolaterally projected lateral canal, as in gorillas and baboons. This is the sign of a locomotor behaviour associating vertical climbing in trees to both bipedalism and quadrupedalism on the ground
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Srinivasan, Sujatha. "Low-dimensional modeling and analysis of human gait with application to the gait of transtibial prosthesis users." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1179865923.
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Zeininger, Angel Diane. "Ontogeny of bipedalism : pedal mechanics and trabecular bone morphology." Thesis, 2013. http://hdl.handle.net/2152/23294.
Full textAbstract:
A unique pattern of pedal loading from heel-strike at touchdown to hallucal propulsion at toe-off is a distinct feature of mature human bipedalism, however, its first appearance in the fossil record is debated. The main goal of this dissertation is to identify anatomical correlates to a modern human heel-strike, rigid foot, and propulsive hallucal toe-off. First, a biomechanical analysis of toddler walking is used as a 'natural experiment' to investigate the influence of non heel-strike (NHS, n = 11) and immature heel-strike (IHS, n = 7) on the location of the center of pressure and orientation of the ground reaction force resultant in relation to specific foot bones during stance phase. With an expanded knowledge of foot bone loading in toddlers, a microarchitectural approach is used to test the influence of a heel-strike, rigid foot, and propulsive hallucal toe-off on trabecular bone fabric properties in an ontogenetic series of human and African ape (chimpanzee, bonobo, and gorilla) calcanei, tali, first metatarsal heads and hallucal distal phalanges. This dissertation presents the first ontogenetic analysis of pedal trabecular bone in primates. Heel-strike and toe-off are developmentally independent from one another. Although most toddlers lack a hallucal toe-off, NHS and IHS apply equally high propulsive forces when the entire width of their forefoot is in contact with the ground. Biomechanical and fossil evidence suggest that a generalized active propulsion may have preceded the evolution of a propulsive hallucal toe-off. Although pedal trabecular fabric properties are more complex than predicted, trabecular correlates to heel-strike and hallucal toe-off are identified within adult human foot bones. Compared to toddlers and African apes, adult humans have a unique combination of relatively thick trabecular struts and an anteroplantar to posterodorsal primary trabecular orientation in the plantar aspect of the calcaneal tuber. In the calcaneal tendon volume of interest, adult humans have a unique anteroplantar to posterodorsal primary trabecular orientation associated with a propulsive hallucal toe-off. This dissertation provides the comparative context necessary to begin assessing the evolution and developmental timing of foot function and specific bipedal gait events in juvenile and adult fossil hominins.text
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Forse, Erin. "Mechanics of bipedalism : an exploration of skeletal morphology and force plate analysis /." 2007. http://minds.wisconsin.edu/handle/1793/32047.
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Sylvester, Adam David. "The decoupling hypothesis a new idea for the origin of hominid bipedalism /." 2006. http://etd.utk.edu/2006/SylvesterAdam.pdf.
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Kivell, Tracy Lynne. "Ontogeny of the hominoid midcarpal joint and implications for the origin of human bipedalism." 2007. http://link.library.utoronto.ca/eir/EIRdetail.cfm?Resources__ID=742062&T=F.
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Feng, Chung-tsung. "Controlling chaos in a sagittal plane biped model using the Ott-Grebogi-Yorke method." Thesis, 2012. http://hdl.handle.net/10413/8923.
Full textAbstract:
Controlling a system with chaotic nature provides the ability to control and maintain orbits of different
periods which extends the functionality of the system to be flexible. A system with diverse dynamical
behaviours can be achieved. Trajectory flows of chaotic systems can be periodically stabilised using only
small perturbations from the controlled parameter. The method of chaos control is the Ott-Grebogi-Yorke
method. In non-chaotic systems large system parameters changes are required for performance changes.
A sagittal plane biped model which is capable of exhibiting periodic and chaotic locomotion was
researched and investigated. The locomotion was either periodic or chaotic depending on the design
parameters. Nonlinear dynamic tools such as the Bifurcation Diagram, Lyapunov Exponent and Poincaré
Map were used to differentiate parameters which generated periodic motion apart from chaotic ones.
Numerical analytical tools such as the Closed Return and Linearization of the Poincaré Map were used to
detect unstable periodic orbit in chaotic attractors.
Chaos control of the model was achieved in simulations. The system dynamic is of the non-smooth
continuous type. Differing from other investigated chaotic systems, the biped model has varying phase
space dimensions which can range from 3 to 6 dimensions depending on the phase of walking.
The design of the biped was such that its features were anthropomorphic with respect to locomotion. The
model, consisting of only the lower body (hip to feet), was capable of walking passively or actively and
was manufactured with optimal anthropometric parameters based on ground clearance (to avoid foot
scuffing) and basin of attraction simulations. During experimentation, the biped successfully walked
down an inclined ramp with minimal aid. Real time data acquisitions were performed to capture the
results, and the experimental data of the walking trajectories were analysed and verified against
simulations. It was verified that the constructed biped exhibits the same walking trend as the derived
theoretical model.Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2012.
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Isler, Karin. "3D-kinematics of vertical climbing in hominoids." 2003. http://www.oregonpdf.org.
Full textAbstract:
Thesis (Dr. Sc. Nat.)--Universität Zürich, 2003.Includes bibliographical references (leaves 186-209). Also available online (PDF file) by a subscription to the set or by purchasing the individual file.
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Marcoz-Fellay, Cécile. "L’utilisation de l’hallux par le jeune macaque rhésus transporté par sa mère et ses implications quant aux coûts de la bipédie humaine." Thèse, 2016. http://hdl.handle.net/1866/19067.
Full textAbstract:
L’hallux de l’humain (plus couramment appelé gros orteil) est aujourd’hui aligné avec les autres orteils ce qui rend son opposition aux autres orteils impossible. Il a été proposé que la perte de l’opposabilité de l’hallux, chez les premiers hominines, aurait mené à une augmentation des coûts liés à la maternité, due à l’obligation de transporter activement les juvéniles lors de longs trajets (Tanner & Zihlman 1976 ; Wall-Sheffler 2007 ; Watson et al. 2008). Cela suggère que l’Australopithecus afarensis devait transporter activement son juvénile car il ne pouvait pas se maintenir par lui-même lors des transports.
Mon étude propose de vérifier cette hypothèse en déterminant si un primate juvénile a besoin de son hallux pour s’accrocher au poil de sa mère. Les deux hypothèses de ce travail sont donc les suivantes : L’abduction de l’hallux est nécessaire à la préhension du poil d’un porteur (généralement la mère) par les jeunes macaques et l’abduction de l’hallux n’est pas nécessaire à la préhension du poil d’un porteur (généralement la mère) par les jeunes macaques lors des transports.
L’observation de vidéos de dyades mère/enfant de macaques rhésus vivant en liberté à Cayo Santiago (Costa Rica) filmées sur une période de cinq mois, tend à supporter mon hypothèse. En effet, les résultats de mon étude montrent que les macaques rhésus sont capables de s’accrocher, et se maintenir, par eux-mêmes à leur mère durant les transports sans se servir de leur hallux.
Il serait cependant nécessaire de compléter cette étude par des recherches supplémentaires pour inférer avec plus de confiance ce type de comportement à l’A. afarensis.The human hallux (more commonly called big toe) is now aligned with the other toes, which makes its opposition to other toes impossible. It has been proposed that the loss of opposability of the hallux in early hominins would have led to increase the energetic costs related to maternity, due to the obligation to carry juveniles actively (Tanner & Zihlman 1976; Wall-Sheffler 2007, Watson et al. 2008). This implies that Australopithecus afarensis juveniles had to be actively transported instead of grasping their mother's hair. My study proposes to test whether a juvenile primate needs its hallux to cling to the hair of its mother. The two hypotheses of this work are as follows: The abduction of the hallux is essential for the grasping of the hair of a carrier (usually the mother) by the young macaques and the abduction of the hallux is not necessary for the grasp of the hair of a carrier (usually the mother) by young macaques during transport. Videos of mother/child dyads of rhesus macaques are used in this study to evaluate the use of the hallux in juveniles being carried. The macaques are from a free-range colony in Cayo Santiago, Costa Rica, and they were filmed over a 5-month period. Results tend to support my hypothesis. Indeed, rhesus macaques are able to cling and maintain themselves on their mother during transport without using their hallux. It would, however, be necessary to supplement this study with further research in order to infer this type of behavior in A. afarensis.