A biologically based neural system coordinates the joints and legs of a tetrapod. (9th September 2015)

• Record Type: Journal Article
• Authors: Hunt, Alexander; Schmidt, Manuela; Fischer, Martin; Quinn, Roger
• Is Part Of: Bioinspiration & biomimetics. Volume 10:Number 5(2015:Oct.)
• Publication Date: 2015-09-09
• Subjects: neural controller -- rat -- simulation -- central pattern generator -- inter-leg coordination; Biomimetics -- Periodicals; Biomedical materials -- Periodicals; Medical innovations -- Periodicals; Biomedical engineering -- Periodicals; 600
• DOI: 10.1088/1748-3190/10/5/055004
• Languages: English
• ISSNs: 1748-3182

Abstract

Abstract: A biologically inspired neural control system has been developed that coordinates a tetrapod trotting gait in the sagittal plane. The developed neuromechanical system is used to explore properties of connections in inter-leg and intra-leg coordination. The neural controller is built with biologically based neurons and synapses, and connections are based on data from literature where available. It is applied to a planar biomechanical model of a rat with 14 joints, each actuated by a pair of antagonistic Hill muscle models. The controller generates tension in the muscles through activation of simulated motoneurons. The hind leg and inter-leg control networks are based on pathways discovered in cat research tuned to the kinematic motions of a rat. The foreleg network was developed by extrapolating analogous pathways from the hind legs. The formulated intra-leg and inter-leg networks properly coordinate the joints and produce motions similar to those of a walking rat. Changing the strength of a single inter-leg connection is sufficient to account for differences in phase timing in different trotting rats.