Walknet - A biologically inspired network to control six-legged walking

Neural Networks

Volumn 11, Issue 7-8, 1998, Pages 1435-1447

  Cruse, Holk ^a   Kindermann, Thomas ^a   Schumm, Michael ^a   Dean, Jeffrey ^b   Schmitz, Josef ^a  

^a BIELEFELD UNIVERSITY   (Germany)

^b CLEVELAND STATE UNIVERSITY   (United States)

Author keywords

Decentralized control; Leg coordination; Positive feedback; Situatedness; Six legged robot; Stick insect; Walking

Indexed keywords

BEHAVIORAL RESEARCH; COMPUTER SIMULATION; ROBOTS;

WALKING;

NEURAL NETWORKS;

ARTIFICIAL NEURAL NETWORK; COMPUTER SIMULATION; CONTROL SYSTEM; INSECT; MOTOR CONTROL; MOTOR COORDINATION; NONHUMAN; POSITIVE FEEDBACK; PRIORITY JOURNAL; REVIEW; ROBOTICS; STANDING; WALKING;

EID: 0032192336     PISSN: 08936080     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0893-6080(98)00067-7     Document Type: Article

References (53)

1. Bässler U. Reversal of a reflex to a single motoneuron in the stick insect Carausius morosus. Biol. Cyber. 24:1976;47-49.
2. Bässler U. Sensory control of leg movement in the stick insect Carausius morosus. Biol. Cyber. 25:1977;61-72.
3. Bässler U. Interactions of central and peripheral mechanisms during walking in first instar stick insects, Extatosoma tiaratum. Physiol. Entomol. 4:1979;193-199.
4. Bässler U. The femur-tibia control system of stick insects - a model system for the study of the neural basis of joint control. Brain Res. Rev. 18:1993;207-226.
5. Bässler U., Büschges A. Pattern generation for stick insect walking movements - multisensory control of a locomotor program. Brain Res. Rev. 27:1998;65-88.
6. Bässler U., Wegner U. Motor output of the denervated thoracic ventral nerve cord in the stick insect Carausius morosus. J. Exp. Biol. 105:1983;127-145.
7. Beer R.D., Chiel H.J., Quinn R.D., Larson P. A distributed neural network architecture for hexapod robot locomotion. Neural Comput. 4:1992;356-365.
8. Beer R.D., Gallagher L.G. Evolving dynamical neural networks for adaptive behavior. Adaptive Behav. 1:1992;92-122.
9. Beer R.D., Quinn R.D., Chiel H.J., Ritzmann R.E. Biologically inspired approaches to robotics. Comm. ACM. 40:1997;31-38.
10. Bizzi E., Giszter S.F., Loeb E., Mussa-Ivaldi F.A., Saltiel P. Modular organization of motor behavior in the frog's spinal chord. Trends Neurosci. 18:1995;442-446.
11. Braitenberg, V. (1984). Vehicles: Experiments in synthetic psychology. Cambridge, MA: MIT Press.
12. Brooks R.A. A robust layered control system for a mobile robot. J. Robot. Auto. 2:1986;14-23.
13. Brooks, R.A. (1991). Intelligence without reason. IJCAI-91 (pp. 569-595). Sydney, Australia.
14. Brooks R.A. From earwigs to humans. Robot. Autonom. Syst. 20:1997;291-304.
15. Brunn D.E. Cooperative mechanisms between leg joints of Carausius morosus. I. Nonspiking interneurons that contribute to interjoint coordination. J. Neurophysiol. 79:1998;2964-2976.
16. Brunn D., Dean J. Intersegmental and local interneurones in the metathorax of the stick insect, Carausius morosus. J. Neurophysiol. 72:1994;1208-1219.
17. Büschges A., Schmitz J., Bässler U. Rhythmic patterns in the thoracic nerve cord of the stick insect induced by pilocarpine. J. Exp. Biol. 198:1995;435-456.
18. Chrachni A., Clarac F. Fictive locomotion in the fourth thoracic ganglion of the crayfish, Procambarus clarkii. J. Neurosci. 10:1990;707-719.
19. Cruse H. The control of the anterior extreme position of the hindleg of a walking insect (Carausius morosus). Physiol. Entomol. 4:1979;121-124.
20. Cruse H. The influence of load and leg amputation upon coordination in walking crustaceans: a model calculation. Biol. Cyber. 49:1983;119-125.
21. Cruse H. Which parameters control the leg movement of a walking insect? I. Velocity control during the stance phase. J. Exp. Biol. 116:1985;343-355.
22. Cruse H. Which parameters control the leg movement of a walking insect? II. The start of the swing phase. J. Exp. Biol. 116:1985;357-362.
23. Cruse H. What mechanisms coordinate leg movement in walking arthropods? Trends Neurosci. 13:1990;15-21.
24. Cruse H., Bartling Ch. Movement of joint angles in the legs of a walking insect, Carausius morosus. J. Insect Physiol. 41:1995;761-771.
25. Cruse H., Bartling Ch., Brunn D.E., Dean J., Dreifert M., Kindermann T., Schmitz J. Walking: a complex behavior controlled by simple systems. Adaptive Behav. 3:1995;385-418.
26. Cruse, H., Bartling, C., Dean, L., Kindermann, T., Schmitz, L., Schumm, M., & Wagner, H. (1996). Coordination in a six-legged walking system: simple solutions to complex problems by exploitation of physical properties. In P. Maes, M. J. Mataric, J. A. Meyer, J. Pollack, & S. W. Wilson (Eds.), From animals to animats (4, pp. 84-93). Cambridge, MA: MIT Press.
27. Cruse H., Clarac F., Chasserat C. The control of walking movements in the leg of the rock lobster. Biol. Cyber. 47:1983;87-94.
28. Cruse H., Riemenschneider D., Stammer W. Control of body position of a stick insect standing on uneven surfaces. Biol. Cyber. 61:1989;71-77.
29. Cruse H., Saxler G. Oscillations of force in the standing legs of a walking insect (Carausius morosus). Biol. Cyber. 36:1980;159-163.
30. Dean J. Coding proprioceptive information to control movement to a target: simulation with a simple neural network. Biol. Cyber. 63:1990;115-120.
31. Dean J., Schmitz J. The two groups of sensilla in the ventral coxal hairplate of Carausius morosus have different roles during walking. Physiol. Entomol. 17:1992;331-341.
32. Dean J., Wendler G. Stick insects walking on a wheel: perturbations induced by obstruction of leg protraction. J. Comp. Physiol. 148:1982;195-207.
33. Dean J., Wendler G. Stick insect locomotion on a walking wheel: Interleg coordination of leg position. J. Exp. Biol. 103:1983;75-94.
34. Espenschied K.S., Quinn R.D., Chiel H.J., Beer R.D. Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot. Robot. Autonom. Syst. 18:1996;59-64.
35. Frik, M., & Amendt, O. (1995). Neural control of a walking robot in variable terrain. Proceedings ninth IFToMM World Congress (pp. 2297-2301). Milano, Italy.
36. Graham D. A behavioural analysis of the temporal organisation of walking movements in the 1st instar and adult stick insect. J. Comp. Physiol. 81:1972;23-52.
37. Graham D. The effect of amputation and leg restraint on the free walking coordination of the stick insect Carausius morosus. J. Comp. Physiol. 116:1977;91-116.
38. Grillner S., Rossignol S. On the initiation of the swing phase of locomotion in chronic spinal cats. Brain Res. 146:1978;269-277.
39. van Holst E. Über relative Koordination bei Arthropoden. Pflügers Archiv. 246:1943;847-865.
40. Jander, J. P. (1982). Untersuchungen zum Mechanismus und zur zentral-nervösen Steuerung des Kurvenlaufs bei Stabheuschrecken (Carausius morosus). Dissertation, Köln.
41. Jindrich D.L., Full R.J. Requirements for self-stabilizing running in 3D hexapods. Amer. Zool. 37:1998;176A.
42. Kimura S., Yano M., Shimizu H. A self-organizing model of walking patterns in insects. II. The loading effect and leg amputation. Biol. Cyber. 70:1993;505512.
43. Maes, P. (1991). A bottom-up mechanisms for behavior selection in an artificial creature. In J. A. Meyer, & S. Wilson, (Eds.), From animals to animats (pp. 238-246). Cambridge, MA: MIT Press.
44. Minsky, M. (1985). The society of mind. New York: Simon and Schuster.
45. Müller-Wilm U., Dean J., Cruse H., Weidemann H.J., Eltze J., Pfeiffer F. Kinematic model of stick insect as an example of a 6-legged walking system. Adaptive Behav. 1:1992;155-169.
46. Pfeiffer F., Eltze J., Weidemann H.J. Six-legged technical walking considering biological principles. Robotics and Autonomous Systems. 14:1994;223-232.
47. Ryckebusch S., Laurent G. Rhythmic patterns evoked in locust leg motor neurons by the muscarinic agonist pilocarpine. J. Neurophysiol. 69:1993;1583-1595.
48. Schmitz, J. (1985). Control of the leg joints in stick insects: differences in the reflex properties between the standing and the walking states. In M. Gewecke, & G. Wendler (Eds.), Insect locomotion (pp. 27-32). Hamburg: Parey.
49. Schmitz J., Bartling Ch., Brunn D.E., Cruse H., Dean J., Kindermann Th., Schumm M., Wagner H. Adaptive properties of 'hard-wired' neuronal systems. Verh. Dtsch. Zool. Ges. 88(2):1995;165-179.
50. Steels L. The artificial life roots of artificial intelligence. Artif. Life. 1:1994;75-110.
51. Steinkühler, U., & Cruse, H. (1998). A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom. Biol. Cyber. (in press).
52. Wendler G. Laufen und Stehen der Stabheuschrecke: Sinnesborsten in den Beingelenken als Glieder von Regelkreisen. Z. Vergl. Physiol. 48:1964;198-250.
53. Zill, S. N. (1993). Load compensatory reactions. Swaying and stepping strategies in posture and locomotion. In R. D. Beer, D. E. Ritzmann, & T. McKenna (Eds.), Biological neural networks in invertebrate neuroethology and robotics (pp. 43-68). New York: Academic Press.