Dynamic control of walking leg joints: a building block model perspective

Book chapter


Yang, Z. 2011. Dynamic control of walking leg joints: a building block model perspective. in: Seventh International Conference on Natural Computation (ICNC), 2011 IEEE.
Chapter titleDynamic control of walking leg joints: a building block model perspective
AuthorsYang, Z.
Abstract

Animals like stick insects can adaptively walk on the complex terrain with different gait patterns. The change of gait patterns involves the adaptation of moving frequency and duty cycle of swing-stance period of individual legs. Inspired by the coupled Matsuoka and resonate-and-fire neuron models, we present a nonlinear oscillation model as the central pattern generator (CPG) for rhythmic gait pattern generation. This dynamic model can be used, as a building block, to actuate the motoneurons on a leg joint with adjustable driving frequencies and duty cycles by changing a few of model parameters. Three identical CPG models being used to drive three joints can make an arthropod leg of three degrees-of-freedom (DOFs). With appropriate model parameter settings, and thus suitable phase lags among joints, the leg is expected to walk on a complex terrain with adaptive steps.

Keywordsbiocontrol , biomechanics , neurophysiology , zoology
Book titleSeventh International Conference on Natural Computation (ICNC), 2011
PublisherIEEE
ISBN
Hardcover9781424499502
Publication dates
PrintJul 2011
Publication process dates
Deposited30 Jan 2013
Output statusPublished
Web address (URL)http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6022059
Digital Object Identifier (DOI)https://doi.org/10.1109/ICNC.2011.6022059
LanguageEnglish
EventSeventh International Conference on Natural Computation (ICNC), 2011
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