scholarly journals Autonomous speed adaptation by a muscle-driven hind leg robot modeled on a cat without intervention from brain

2021 ◽  
Vol 18 (5) ◽  
pp. 172988142110449
Author(s):  
Yasuhiro Fukuoka ◽  
Yasushi Habu ◽  
Kouta Inoue ◽  
Satoshi Ogura ◽  
Yoshikazu Mori
Keyword(s):  
Nervous System ◽  
Central Pattern Generator ◽  
Sensory Feedback ◽  
Legged Locomotion ◽  
Pattern Generator ◽  
System Model ◽  
Simulated Model ◽  
Wide Range ◽  
Locomotion Controller ◽  
Muscle Models

This study aims to design a nervous system model to drive the realistic muscle-driven legs for the locomotion of a quadruped robot. We evaluate our proposed nervous system model with a hind leg simulated model and robot. We apply a two-level central pattern generator for each leg, which generates locomotion rhythms and reproduces cat-like leg trajectories by driving different sets of the muscles at any timing during one cycle of moving the leg. The central pattern generator receives sensory feedback from leg loading. A cat simulated model and a robot with two hind legs, each with three joints driven by six muscle models, are controlled by our nervous system model. Even though their hind legs are forced backward at a wide range of speeds, they can adapt to the speed variation by autonomously adjusting its stride and cyclic duration without changing any parameters or receiving any descending inputs. In addition to the autonomous speed adaptation, the cat hind leg robot switched from a trot-like gait to a gallop-like gait while speeding up. These features can be observed in existing animal locomotion tests. These results demonstrate that our nervous system is useful as a valid and practical legged locomotion controller.

Cycle Period of a Network Oscillator Is Independent of Membrane Potential and Spiking Activity in Individual Central Pattern Generator Neurons

2004 ◽  
Vol 92 (3) ◽  
pp. 1904-1917 ◽  
Author(s):  
Paul S. Katz ◽  
Akira Sakurai ◽  
Stefan Clemens ◽  
Deron Davis
Keyword(s):  
Nervous System ◽  
Membrane Potential ◽  
Central Pattern Generator ◽  
Temperature Sensitivity ◽  
Motor Pattern ◽  
Pattern Generator ◽  
Membrane Potentials ◽  
Cycle Period ◽  
Wide Range ◽  
Spiking Activity

Rhythmic motor patterns are thought to arise through the cellular properties and synaptic interactions of neurons in central pattern generator (CPG) circuits. Yet, when examining the CPG underlying the rhythmic escape response of the opisthobranch mollusc, Tritonia diomedea, we found that the cycle period of the fictive swim motor pattern recorded from the isolated nervous system was not altered by changing the resting membrane potential or the level of spiking activity of any of the 3 known CPG cell types: ventral swim interneuron-B (VSI-B), the dorsal swim interneurons (DSIs), and cerebral neuron 2 (C2). Furthermore, tonic firing in one or more DSIs or C2 evoked rhythmic bursting that did not differ from the cycle period of the motor pattern evoked by nerve stimulation, regardless of the firing frequency. In contrast, the CPG produced a large range of cycle periods as a function of temperature. The temperature sensitivity of the fictive motor pattern produced by the isolated nervous system was similar to the temperature sensitivity of the swimming behavior produced by the intact animal. Thus, although the CPG is capable of producing a wide range of cycle periods under the influence of temperature, the membrane potentials and spiking activity of the identified CPG neurons do not determine the periodicity of the motor pattern. This suggests that the timing of activity in this network oscillator may be determined by a mechanism that is independent of the membrane potentials and spike rate of its constituent neurons.

COMPUTER SIMULATION STUDY ON CENTRAL PATTERN GENERATOR: FROM BIOLOGY TO ENGINEERING

2006 ◽  
Vol 16 (06) ◽  
pp. 405-422 ◽  
Author(s):  
DINGGUO ZHANG ◽  
KUANYI ZHU
Keyword(s):  
Computer Simulation ◽  
Nervous System ◽  
Central Pattern Generator ◽  
Sensory Feedback ◽  
Engineering Application ◽  
Pattern Generator ◽  
Neural Oscillator ◽  
Neuronal Circuit ◽  
Rhythmic Movements ◽  
Computer Simulation Study

Central pattern generator (CPG) is a neuronal circuit in the nervous system that can generate oscillatory patterns for the rhythmic movements. Its simplified format, neural oscillator, is wildly adopted in engineering application. This paper explores the CPG from an integral view that combines biology and engineering together. Biological CPG and simplified CPG are both studied. Computer simulation reveals the mechanism of CPG. Some properties, such as effect of tonic input and sensory feedback, stable oscillation, robustness, entrainment etc., are further studied. The promising results provide foundation for the potential engineering application in future.

A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator

Robotica ◽  
2009 ◽  
Vol 28 (6) ◽  
pp. 869-884 ◽  
Author(s):  
Chenglong Fu ◽  
Feng Tan ◽  
Ken Chen
Keyword(s):  
Central Pattern Generator ◽  
Hip Joint ◽  
Control Algorithm ◽  
Sensory Feedback ◽  
Environmental Variation ◽  
Pattern Generator ◽  
Biped Walking ◽  
Bifurcation Phenomenon ◽  
Sinusoidal Oscillator ◽  
Efficient Gait

SUMMARYThis paper presents a control algorithm for biped walking by extension of previous work in the fields of central pattern generator (CPG) and passive walking. The algorithm takes advantage of the passive dynamics of walking, assisting only when necessary with an intermittent sinusoidal oscillator. The parameterized oscillator is used to drive the hip joint; the triggering and ceasing of the oscillator during a walking cycle can be modulated by the sensory feedback. The results from simulation indicate a stable, efficient gait, and robustness against model inaccuracy and environmental variation. We also examine the effects of oscillator parameters and link parameters on the gait, and design a controller to suppress the bifurcation phenomenon based on the error of prior step periods.

The Swimming Circuit in the Pteropod Mollusk Clione limacina

2017 ◽  
pp. 569-574
Author(s):  
Yuri I. Arshavsky ◽  
Tatiana G. Deliagina ◽  
Grigory N. Orlovsky
Keyword(s):  
Nervous System ◽  
Central Pattern Generator ◽  
Rhythmic Activity ◽  
Pattern Generator ◽  
Neuronal Circuit ◽  
Basic Pattern ◽  
Marine Mollusk ◽  
Clione Limacina ◽  
Two Phases

The pelagic marine mollusk Clione limacina (class Gastropoda, subclass Opisthobranchaea, order Pteropoda), 3–5 cm in length, swims by rhythmically moving (1–2-Hz) two winglike appendages. Each swim cycle consists of two phases—the dorsal (D) and ventral (V) wing flexions. The nervous system of Clione consists of five pairs of ganglia. The wing movements are controlled by the pedal ganglia giving rise to the wing nerves. The neuronal circuit of the swim central pattern generator (CPG) is located in the pedal ganglia, which is able to generate the basic pattern of rhythmic activity after isolation from the organism (fictive swimming). Approximately 120 pedal neurons exhibit rhythmic activity during fictive swimming. According to their morphology, rhythmic neurons are divided into motoneurons (MNs), with axons exiting via the wing nerves to wing muscles, and interneurons (INs), with axons projecting to the contralateral ganglion.

The Tritonia Swim Central Pattern Generator

2017 ◽  
pp. 561-568
Author(s):  
Paul S. Katz
Keyword(s):  
Central Pattern Generator ◽  
Sensory Feedback ◽  
Pattern Generator ◽  
Emergent Property ◽  
The Other ◽  
Entire Body ◽  
Neural Basis ◽  
Sea Slug ◽  
Tritonia Diomedea ◽  
State Dependent

Tritonia diomedea is a sea slug that escapes from predatory starfish by rhythmically flexing its entire body in the dorsal and ventral directions. This escape swim behavior is produced by a central pattern generator (CPG), without needing sensory feedback. There are several features of the neural basis for this response that make it of particular interest for neuroscientists. One is that the CPG is a network oscillator; bursting arises as an emergent property of the neurons and their connectivity. Another interesting feature is that the CPG contains state-dependent, intrinsic neuromodulation: one of the CPG neurons uses the neurotransmitter serotonin (5-HT) to modulate the strength of synapses made by the other CPG neurons under certain conditions. This CPG seems to have evolved from a nonoscillatory network. Finally, there are novel mechanisms for plasticity during learning and in response to injury.

Control of Locomotion in Crustaceans

2017 ◽  
pp. 470-494
Author(s):  
Daniel Cattaert ◽  
Donald Hine Edwards
Keyword(s):  
Neural Networks ◽  
Central Pattern Generator ◽  
Hybrid System ◽  
Sensory Feedback ◽  
Motor Command ◽  
Pattern Generator ◽  
Decapod Crustaceans ◽  
Leg Coordination ◽  
Leg Movements

This chapter will consider the control of posture and walking in decapod crustaceans (crabs, lobsters, rock lobsters, and crayfish). The walking system of crustaceans is composed of five pairs of appendages, each with seven articulated segments. While crabs sideways walking relies on stereotyped trailing and leading leg movements, forward/backward walking in lobsters and crayfish is achieved by different movements in the different legs, depending on their orientation versus body axis. Largely independent neural networks, localized in each of the 10 hemi-segmental thoracic ganglia, control each leg during locomotion. Each of these networks is modularly organized, with a specific central pattern generator (CPG) controlling each joint. Although coordinating interneurons have been described, inter-joint and inter-leg coordination is largely maintained by sensory feedback. Recently, the key role of proprioceptive signals in motor command processing has been addressed thanks to hybrid system experiments and modelling.

scholarly journals Feedforward discharges couple the singing central pattern generator and ventilation central pattern generator in the cricket abdominal central nervous system

2019 ◽  
Vol 205 (6) ◽  
pp. 881-895 ◽  
Author(s):  
Stefan Schöneich ◽  
Berthold Hedwig
Keyword(s):  
Motor Activity ◽  
Central Pattern Generator ◽  
Sensory Feedback ◽  
Motor Pattern ◽  
Pattern Generator ◽  
Abdominal Muscle ◽  
Excitatory Input ◽  
Intracellular Recordings ◽  
Motor Patterns ◽  
The Brain

Abstract We investigated the central nervous coordination between singing motor activity and abdominal ventilatory pumping in crickets. Fictive singing, with sensory feedback removed, was elicited by eserine-microinjection into the brain, and the motor activity underlying singing and abdominal ventilation was recorded with extracellular electrodes. During singing, expiratory abdominal muscle activity is tightly phase coupled to the chirping pattern. Occasional temporary desynchronization of the two motor patterns indicate discrete central pattern generator (CPG) networks that can operate independently. Intracellular recordings revealed a sub-threshold depolarization in phase with the ventilatory cycle in a singing-CPG interneuron, and in a ventilation-CPG interneuron an excitatory input in phase with each syllable of the chirps. Inhibitory synaptic inputs coupled to the syllables of the singing motor pattern were present in another ventilatory interneuron, which is not part of the ventilation-CPG. Our recordings suggest that the two centrally generated motor patterns are coordinated by reciprocal feedforward discharges from the singing-CPG to the ventilation-CPG and vice versa. Consequently, expiratory contraction of the abdomen usually occurs in phase with the chirps and ventilation accelerates during singing due to entrainment by the faster chirp cycle.

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