We present a neuromorphic silicon chip that emulates the activity of the biological spinal central pattern generator (CPG) and creates locomotor patterns to support walking. The chip implements ten integrate-and-fire silicon neurons and 190 programmable digital-to-analog converters that act as synapses. This architecture allows for each neuron to make synaptic connections to any of the other ne...

Whether the motor cortex regulates voluntary movements by generating the motor pattern directly or by acting through subcortical central pattern generators (CPGs) remains a central question in motor control. Using the rat whisker system, an important model system of mammalian motor control, we develop an anesthetized preparation to investigate the interaction between the motor cortex and a whis...

Central pattern generator (CPG) is defined here as a neural network responsible for the production of the timing cues of a rhythmic motor output pattern. In biological system, the CPG is a network of neurons that generate the rhythmic movements such as locomotion of animals. This rhythmic movement will induced a coordination of physical parts that necessary for stable locomotion. To implement t...

Central Pattern Generator (CPG) networks, which organize rhythmic movements, have long served as models for neural network organization. Modulatory inputs are essential components of CPG function: neuromodulators set the parameters of CPG neurons and synapses to render the networks functional. Each modulator acts on the network by many effects which may oppose one another; this may serve to sta...

There has been an increased interest in the development of biologically inspired vehicles and robotics, as they have the potential of outperforming the current state of the art in metrics of efficiency, economy, maneuverability, and stealth. In marine applications, unmanned underwater vehicles currently rely on the steady state propellor or screw, which can be inefficient, noisy, application sp...

The multifunctional buccal central pattern generator in snails, which controls different oral behaviors, has been well characterized. In this work we propose a role for the group of about 40 electrotonically coupled buccal A cluster cells as a context-dependant switch for the buccal central pattern generator, modulating motor patterns that elicit different oral behaviors. We characterize these ...

Lymnaea stagnalis, often termed the great pond snail, is characterized in part by its ability to take in oxygen both cutaneously and aerially (via its rudimentary lung). The central nervous system of the Lymnaea is composed of a relatively small number of large, identifiable neurons. In 1990, Syed et al. [1] established that respiratory rhythmogenesis in the Lymnaea is controlled by a 3-neuron ...

The central pattern generators constructed from oscillating motor neurons are common biological phenomena. Central pattern generators are able to generate large number of different patterns, ranging from small periodic patterns to chaotic ones [Matsuoka, 1987]. Earlier the simulated oscillating neural systems have been used in rhythm perception research [Ohya, 1994] and musical pattern generati...

In cases of neuronal injury when regeneration is restricted, functional recovery can occur through reorganization of the remaining neural circuitry. We found an example of such recovery in the central pattern generator (CPG) for the escape swim of the mollusc Tritonia diomedea. The CPG neurons are bilaterally represented and each neuron projects an axon through one of two pedal commissures. Cut...

In biological systems, the rhythm generator mechanism called Central Pattern Generator (CPG) is involved in rhythmic activities, such as locomotion, respiration, heartbeat, etc, and various mathematical neuron models are proposed. In this paper, the CPG network consists of the Matsuoka neuron model, and is introduced to realize the locomotion of a bipedal robot. The outputs of neurons are utili...