Dynamic control of walking leg joints: a building block model perspective

Yang, Zhijun ORCID logoORCID: https://orcid.org/0000-0003-2615-4297 (2011) Dynamic control of walking leg joints: a building block model perspective. In: Seventh International Conference on Natural Computation (ICNC), 2011. IEEE, pp. 459-463. ISBN 9781424499502. [Book Section] (doi:10.1109/ICNC.2011.6022059)


Animals like stick insects can adaptively walk on the complex terrain with different gait patterns. The change of gait patterns involves the adaptation of moving frequency and duty cycle of swing-stance period of individual legs. Inspired by the coupled Matsuoka and resonate-and-fire neuron models, we present a nonlinear oscillation model as the central pattern generator (CPG) for rhythmic gait pattern generation. This dynamic model can be used, as a building block, to actuate the motoneurons on a leg joint with adjustable driving frequencies and duty cycles by changing a few of model parameters. Three identical CPG models being used to drive three joints can make an arthropod leg of three degrees-of-freedom (DOFs). With appropriate model parameter settings, and thus suitable phase lags among joints, the leg is expected to walk on a complex terrain with adaptive steps.

Item Type: Book Section
Keywords (uncontrolled): biocontrol , biomechanics , neurophysiology , zoology
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 9918
Useful Links:
Depositing User: Zhijun Yang
Date Deposited: 30 Jan 2013 12:15
Last Modified: 01 Aug 2019 07:50
URI: https://eprints.mdx.ac.uk/id/eprint/9918

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