Implementing an artificial centipede CPG : integrating appendicular and axial movements of the scolopendromorph centipede

Braga, Rodrigo, Yang, Zhijun ORCID: https://orcid.org/0000-0003-2615-4297 and Franca, Felipe (2008) Implementing an artificial centipede CPG : integrating appendicular and axial movements of the scolopendromorph centipede. In: BIOSIGNALS : Proceedings of the First International Conference on Biomedical Electronics and Devices. INSTICC - Institute for Systems and Technologies of Information, Control and Communication, pp. 58-62.

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Abstract

In nature, a high number of species seems to have purely inhibitory neuronal networks called Central Pattern Generators (CPGs), allowing them to produce biological rhythmic patterns in the absence of any external input. It is believed that one of the mechanisms behind CPGs functioning is the Post-Inhibitory Rebound (PIR) effect. Based in the similarity between the PIR functioning and the Scheduled by Multiple Edge Reversal (SMER) distributed synchronizer algorithm, a generalized architecture for the construction of artificial CPGs was proposed. In this work, this architecture was generalized by integrating, in a single model, the axial and appendicular movements of a centipede in the fastest gait pattern of locomotion.

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