Relatively little is known about the interneurons that constitute the mammalian locomotor central pattern generator and how they interact to produce behavior. A potential avenue of research is to identify genetic markers specific to interneuron populations that will assist further exploration of the role of these cells in the network. One such marker is the EphA4 axon guidance receptor. EphA4-n...

The biogenic amine octopamine modulates a variety of aspects of insect motor behavior, including direct action on the flight central pattern generator. A number of recent studies demonstrate that tyramine, the biological precursor of octopamine, also affects invertebrate locomotor behaviors, including insect flight. However, it is not clear whether the central pattern generating networks are di...

This paper focuses on the modelling and control problems of a self‐propelled, multimodal amphibious robot. Inspired by the undulatory body motions of fish and dolphins, the amphibious robot propels itself underwater by oscillations of several modular fish‐like propelling units coupled with a pair of pectoral fins capable of non‐continuous 360 degree rotation....

This paper investigates the control of the phase di erence in between three di erent motions of bat ight: pitching, apping, and lead-lag. For active control, a robotic bat test bed capable of simulating di erent wing motions is used to test the control of these wing motions and the phase di erences using central pattern generators (CPG’s). Previous work with the robotic bat is expanded upon by ...

According to the study of nervous system ethology, it is thought that a walk movement of an animal is controlled by Central Pattern Generator (CPG). There are a lot of studies to try the control of the leg type robot based on CPG principle. However, most of the studies consider two or four leg type robots, and there are not many studies performed for robots more than six legs. One of its factor...

Robust activity of some networks, such as central pattern generators, suggests the existence of physiological mechanisms that maintain the most important characteristics, for example, the period and spike frequency of the pattern. Whatever these mechanisms are, they change the appropriate model parameters to or along the isomanifolds on which the characteristics of the pattern are constant, whi...

We derive a mathematical theory to explain the subthreshold resonance response of a neuron to synaptic input. The theory shows how a neuron combines information from its intrinsic resonant properties with those of the synapse to determine the neuron's generalized resonance response. Our results show that the maximal response of a postsynaptic neuron can lie between the preferred intrinsic frequ...

Abstract: This paper focuses on a dolphin-like swimming hydrodynamics problem for a biomimetic amphibious robot capable of both fishand dolphin-like swimming modes. A Lagrangian reduction has been established in terms of rigid-body dynamics. For robust gait control, a central pattern generator-based approach is incorporated into the model serving as explicit joint angle control. Consequently, a...

A study of a general central pattern generator (CPG) is carried out by means of a measure of the gain of information between the number of available topology configurations and the output rhythmic activity. The neurons of the CPG are chaotic Hindmarsh-Rose models that cooperate dynamically to generate either chaotic or regular spatiotemporal patterns. These model neurons are implemented by comp...

The undulatory locomotion of polychaete annelid worms is studied as a biological paradigm of a versatile body morphology and effective motion control, adaptable to a large variety of unstructured and tortuous environmental conditions (water, sand, mud, sediment, etc.). Computational models of this type of locomotion have been developed, based on the Lagrangian dynamics of the system, on resisti...