scholarly journals Simulation of Octopus Arm Based on Coupled CPGs

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Juan Tian ◽  
Qiang Lu
Keyword(s):  
Phase Diagrams ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Hot Spot ◽  
Central Pattern Generators ◽  
Arm Movements ◽  
Movement Control ◽  
High Dimensionality ◽  
Neuromuscular System ◽  
Pattern Generators

The octopus arm has attracted many researchers’ interests and became a research hot spot because of its amazing features. Several dynamic models inspired by an octopus arm are presented to realize the structure with a large number of degrees of freedom. The octopus arm is made of a soft material introducing high-dimensionality, nonlinearity, and elasticity, which makes the octopus arm difficult to control. In this paper, three coupled central pattern generators (CPGs) are built and a 2-dimensional dynamic model of the octopus arm is presented to explore possible strategies of the octopus movement control. And the CPGs’ signals treated as activation are added on the ventral, dorsal, and transversal sides, respectively. The effects of the octopus arm are discussed when the parameters of the CPGs are changed. Simulations show that the octopus arm movements are mainly determined by the shapes of three CPGs’ phase diagrams. Therefore, some locomotion modes are supposed to be embedded in the neuromuscular system of the octopus arm. And the octopus arm movements can be achieved by modulating the parameters of the CPGs. The results are beneficial for researchers to understand the octopus movement further.

scholarly journals Overcoming a 'forbidden phenotype': The parrot's head supports, propels, and powers tripedal locomotion

2021 ◽  
Author(s):  
Melody W Young ◽  
Edwin Dickinson ◽  
Nicholas D Flaim ◽  
Michael C Granatosky
Keyword(s):  
Central Pattern Generators ◽  
Neuromuscular System ◽  
Feeding Apparatus ◽  
Tangential Forces ◽  
Reaction Forces ◽  
Pattern Generators ◽  
Additional Support ◽  
Kinetics Of ◽  
Neck Musculature ◽  
Vertical Climbing

No vertebrate, living or extinct, is known to have possessed an odd number of limbs. Despite this ″forbidden phenotype″, gaits that utilize odd numbers of limbs (e.g., tripedalism or pentapedalism) have evolved in both avian and mammalian lineages. Tripedal locomotion is commonly employed by parrots during climbing, who utilize their beaks as an additional support. However, it is unclear whether the beak functions simply as a stabilizing hook, or as a propulsive limb. Here, we present data on kinetics of tripedal climbing in six rosy –faced lovebirds (Agapornis rosiecollis). Our findings demonstrate that parrots utilize cyclical tripedal gaits when climbing and the beak and hindlimbs generate comparable propulsive and tangential substrate reaction forces and power. Propulsive and tangential forces generated by the beak are of equal or greater magnitudes to those forces generated by the forelimbs of humans and non –human primates during vertical climbing. We conclude that the feeding apparatus and neck musculature of parrots has been co–opted to function biomechanically as a third limb during vertical climbing. We hypothesize that this exaptation required substantive alterations to the neuromuscular system including enhanced force–generating capabilities of the neck musculature and modifications to limb central pattern generators.

The Design of Central Pattern Generators Based on the Matsuoka Oscillator to Generate Rhythmic Human-Like Movement for Biped Robots

2007 ◽  
Vol 11 (8) ◽  
pp. 946-955 ◽  
Author(s):  
Guang Lei Liu ◽  
◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi
Keyword(s):  
Degrees Of Freedom ◽  
Central Pattern Generators ◽  
Biped Robot ◽  
Coupling Coefficients ◽  
Neuron Models ◽  
Bipedal Robots ◽  
Biped Robots ◽  
Coupling Dynamics ◽  
Pattern Generators ◽  
6 Degrees Of Freedom

We propose a controller based on a central pattern generator (CPG) network of mutually coupled Matsuoka nonlinear neural oscillators to generate rhythmic human-like movement for biped robots. The parameters of mutually inhibited and coupled Matsuoka oscillators and the necessary interconnection coupling coefficients within the CPG network directly influence the generation of the required rhythmic signals related to targeted motion. Our objective is to analyze the mutually coupled neuron models of Matsuoka oscillators to realize an efficient CPG design that leads to have dynamic, stable, sustained rhythmic movement with robust gaits for bipedal robots. We discuss the design of a CPG model with new interconnection coupling links and its inhibitation coefficients for a CPG-based controller. The new design was studied through interaction between simulated interconnection coupling dynamics with six links and a musculoskeletal model with the 6 degrees of freedom (DOFs) of a biped robot. We used the weighted outputs of mutually inhibited oscillators as torques to actuate joints. We verified the effectiveness of our proposal through simulation and compared the results to those of Taga’s CPG model, confirming better, more efficient generation of stable rhythmic walking at different speeds and robustness in response to disturbances.

scholarly journals From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

Symmetry ◽  
2021 ◽  
Vol 13 (10) ◽  
pp. 1773
Author(s):  
Mariève Blanchet ◽  
Pierre Guertin ◽  
Francine Pilon ◽  
Philippe Gorce ◽  
François Prince
Keyword(s):  
Central Pattern Generators ◽  
Movement Control ◽  
Walking Robots ◽  
Environmental Constraints ◽  
Task Requirements ◽  
Locomotor Activities ◽  
Pattern Generators ◽  
And Control ◽  
The Brain

This article deepens a reflection on why and how symmetry/asymmetry affects the motor and postural behavior from the neural source, uterine development, child maturation, and how the notion of symmetry/asymmetry has been applied to walking robot design and control. The concepts of morphology and tensegrity are also presented to illustrate how the biological structures have been used in both sciences and arts. The development of the brain and the neuro-fascia-musculoskeletal system seems to be quite symmetric from the beginning of life through to complete maturity. The neural sources of movements (i.e., central pattern generators) are able to produce both symmetric or asymmetric responses to accommodate to environmental constraints and task requirements. Despite the fact that the human development is mainly symmetric, asymmetries already regulate neurological and physiological development. Laterality and sports training could affect natural musculoskeletal symmetry. The plasticity and flexibility of the nervous system allows the abilities to adapt and compensate for environmental constraints and musculoskeletal asymmetries in order to optimize the postural and movement control. For designing humanoid walking robots, symmetry approaches have been mainly used to reduce the complexity of the online calculation. Applications in neurological retraining and rehabilitation should also be considered.

Effect of Central Pattern Generators Depended Different Walking Strategies on Gait Ability of Patients after Stroke

2017 ◽  
Vol 27 (2) ◽  
pp. 40
Author(s):  
Hua WU ◽  
Zaihua RU ◽  
Congying XU ◽  
Xudong GU ◽  
Jianming FU
Keyword(s):  
Central Pattern Generators ◽  
Pattern Generators

Rhythmic Pattern Generation in Invertebrates

2018 ◽  
pp. 390-400
Author(s):  
Astrid A. Prinz
Keyword(s):  
Central Pattern Generators ◽  
Pattern Generation ◽  
Rhythmic Pattern ◽  
Neuronal Circuit ◽  
Neuronal Circuits ◽  
Timing Circuit ◽  
Core Components ◽  
Pattern Generators

This chapter begins by defining central pattern generators (CPGs) and proceeds to focus on one of their core components, the timing circuit. After arguing why invertebrate CPGs are particularly useful for the study of neuronal circuit operation in general, the bulk of the chapter then describes basic mechanisms of CPG operation at the cellular, synaptic, and network levels, and how different CPGs combine these mechanisms in various ways. Finally, the chapter takes a semihistorical perspective to discuss whether or not the study of invertebrate CPGs has seen its prime and what it has contributed—and may continue to offer—to a wider understanding of neuronal circuits in general.

Models of central pattern generators for quadruped locomotion

2001 ◽  
Vol 42 (4) ◽  
pp. 291-326 ◽  
Author(s):  
Pietro-Luciano Buono ◽  
Martin Golubitsky
Keyword(s):  
Central Pattern Generators ◽  
Quadruped Locomotion ◽  
Pattern Generators

scholarly journals Effect of individual spiking activity on rhythm generation of central pattern generators

2004 ◽  
Vol 58-60 ◽  
pp. 535-540 ◽  
Author(s):  
Roberto Latorre ◽  
Francisco de Borja Rodrı́guez ◽  
Pablo Varona
Keyword(s):  
Central Pattern Generators ◽  
Rhythm Generation ◽  
Pattern Generators ◽  
Spiking Activity
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