Analysis of a distributed model of leg coordination: I. Individual coordination mechanisms

Biological Cybernetics

Volumn 82, Issue 3, 2000, Pages 197-206

  Calvitti, Alan ^a   Beer, Randall D ^a,b  

^a Case Western Reserve University   (United States)

^b CASE WESTERN RESERVE UNIVERSITY SCHOOL OF MEDICINE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANIMAL; ARTICLE; BIOLOGICAL MODEL; BIOLOGICAL RHYTHM; BODY POSTURE; GAIT; INSECT; JOINT CHARACTERISTICS AND FUNCTIONS; LIMB; LOCOMOTION; MATHEMATICAL COMPUTING; PHYSIOLOGY;

ANIMALS; BIOLOGICAL CLOCKS; EXTREMITIES; GAIT; INSECTS; LOCOMOTION; MATHEMATICAL COMPUTING; MODELS, BIOLOGICAL; POSTURE; RANGE OF MOTION, ARTICULAR;

EID: 0034145180     PISSN: 03401200     EISSN: None     Source Type: Journal    
DOI: 10.1007/s004220050019     Document Type: Article

References (26)

1. Bässler U (1983) Neural basis of elementary behavior in stick insects. Springer Berlin Heidelberg New York
2. Cruse H (1979) A new model describing the coordination pattern of the legs of a walking stick insect. Biol Cybern 32:107-113
3. Cruse H (1980) A quantitative model of walking incorporating central and peripheral influences. II. The connections between the different legs. Biol Cybern 37:137-144
4. Cruse H (1990) What mechanisms coordinate leg movement in walking arthropods? Trends Neurosci 13:15-21
5. Cruse H, Saxler G (1980) The coordination of force oscillations and of leg movement in a walking insect. Biol Cybern 36:165-171
6. Cruse H, Warnecke H (1992) Coordination of the legs of a slow-walking cat. Exp Brain Res 89:147-156
7. Cruse H, Brunn DE, Bartling C, Dean J, Dreifert M, Kindermann T, Schmitz J (1995) Walking: a complex behavior controlled by simple networks. Adapt Behav 3:385-418
8. Cruse H, Kindermann T, Schumm M, Dean J, Schmitz J (1998) Walknet-a biologically inspired nelwork to control six-legged walking. Neural Netw 11:1435-1447
9. Cymbalyuk GS, Borisyuk RM, Müeller-Wilm U, Cruse H (1998) Oscillatory network controlling six-legged locomotion. Optimization of model parameters. Neural Netw 11:1449-1460
10. Dean J (1991a) A model of leg coordination in the stick insect, Carausius morosus. I. Geometrical considerations of contralateral and ipsilateral coordination mechanisms between two adjacent legs. Biol Cybern 64:393-402
11. Dean J (1991b) A model of leg coordination in the stick insect, Carausius morosus. II. Description of the kinematic model and simulation of normal step patterns. Biol Cybern 64:403-411
12. Dean J (1992a) A model of leg coordination in the stick insect, Carausius morosus. III. Responses to perturbations of normal coordination. Biol Cybern 66:335-343
13. Dean J (1992b) A model of leg coordination in the stick insect, Carausius morosus. IV. Comparisons of different forms of coordinating mechanisms. Biol Cybern 66:345-355
14. Devaney RL (1989) An introduction to chaotic dynamical systems, 2nd edn. Addison-Wesley, Reading, Mass.
15. Espenschied KS, Quinn RD, Chiel HJ, Beer RD (1993) Leg coordination mechanisms in stick insect applied to hexapod robot locomotion. Adapt Behav 1:455-468
16. Espenschied KS, Quinn RD, Beer RD, Chiel HJ (1996) Biologically-based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot. Robot Auton Syst 18:59-64
17. Ferrell C (1995) A comparison of three insect-inspired locomotion controllers. Robot Auton Syst 16:135-159
18. Flannigan WC, Nelson GM, Quinn RD (1998) Locomotion controller for a crab-like robot. Proc 1998 IEEE International Conference on Robotics and Automation (ICRA'98), Belgium, May 18-21 IEEE pp 152-162
19. Foth E, Graham D (1983) Influence of loading parallel to the body axis on the walking coordination of an insect. II. Contralateral effects. Biol Cybern 48:149-157
20. Frik M, Quddat M, Karatas M, Losch CD (1999) A novel approach to autonomous control of walking machines. In: Virk GS, Randall M, Howard D (eds) Proceedings of the 2nd International Conference on Climbing and Walking Robots CLAWAR 99,13-15 September, Portsmouth, UK, pp 333-342, Professional Engineering Publishing Limited, Bury St. Edmunds
21. Graham D (1972) An analysis of walking movements in the first instar and adult stick insect. J Comp Physiol 81:23-52
22. Graham D (1977) Simulation of a model for the coordination of leg movement in free walking insects. Biol Cybern 26:187-198
23. Graham D (1985) Pattern and control of walking in insects. Adv Insect Physiol 18:31-140
24. Johnson SD (1994) Simple hybrid systems. Int J Bifur Chaos 6:1655-1665
25. Müller U, Cruse H (1991) The contralateral coordination of walking legs in the crayfish Astacus leptodactylus. Biol Cybern 64:437-446
26. Pfeiffer F, Eltze J, Weidemann HJ (1995) Six-legged technical walking machine considering biological principles. Robot Auton Syst 14:223-232