Analysis of quadrupedal locomotion and energy using hardware CPG model

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Other Title
  • 電子回路CPGモデルにおける四肢歩容とエネルギーの関係についての分析

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Description

<p>It is thought that quadrupedal gaits are assumed to be generated by the central pattern generators (CPGs) which is hypothesized to exist in the spinal cord. We have modeled, using electronic circuits and hardware modules, a hard-wired network composed of eight CPGs (Z4×Z2 symmetry) that was originally proposed by Golubitsky et al. from the theoretical approach. Furthermore, we reproduced switching phenomena between quadrupedal locomotion patterns by manipulating the only one parameter (externally inputted DC voltage). In this study, we clarify the switching phenomena from the viewpoint of the necessary energy to change the locomotion patterns. Hoyt et al. experimentally examined that horses selected the gaits (locomotion patterns) so as to minimize the oxygen consumption per unit distance. We examined the relation between the switching phenomena in the hardware model and the necessary electric power, by using the circuit simulator, LT Spice IV.</p>

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Details 詳細情報について

  • CRID
    1390282680244575744
  • NII Article ID
    130005285336
  • DOI
    10.11239/jsmbe.54annual.s200
  • ISSN
    18814379
    1347443X
  • Text Lang
    ja
  • Data Source
    • JaLC
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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