Paper Abstract and Keywords |
Presentation |
2014-11-20 10:00
Switching four-legged animal gaits between walk, trot and bound using CPG circuit Hayate Kojima, Akihiro Maruyama (Niigata Univ.), Tomoyasu Ichimura (ONCT), Yoshinobu Maeda (Niigata Univ.) CAS2014-87 MSS2014-51 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
In the mammalian spinal cord, a central pattern generator (CPG) is supposed to be as neural networks. The CPG is responsible for producing locomotor rhythms periodically, and the rhythms are propagated down to flexor and extensor legs. So far, we have constructed a hardware CPG model from the mathematical description proposed by Rybak et al., and, using it, reproduced oscillation behaviors corresponding to some quadrupedal gaits of four-legged animals. However, when reproducing their gaits, we need to change the structure of the network among the hardware CPG models. In this technical report, we reproduced the oscillation behaviors corresponding to the typical gaits, “walking”, “trotting”, and “bounding” with the hardware CPG model proposed, and switched them using the only one parameter, voltage VMLR. As a result, we constructed two hardware networks that can switch between the walking and trotting, and between the trotting and bounding. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Central pattern generator / Quadrupedal locomotion / Action potential / Neural network / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 114, no. 312, CAS2014-87, pp. 1-6, Nov. 2014. |
Paper # |
CAS2014-87 |
Date of Issue |
2014-11-13 (CAS, MSS) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
Download PDF |
CAS2014-87 MSS2014-51 |
Conference Information |
Committee |
CAS MSS IPSJ-AL |
Conference Date |
2014-11-20 - 2014-11-21 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Nobumoto Ohama Memorial Hall (Ishigaki island) |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
Graph, Petri net, Neural network, and General |
Paper Information |
Registration To |
CAS |
Conference Code |
2014-11-CAS-MSS-AL |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Switching four-legged animal gaits between walk, trot and bound using CPG circuit |
Sub Title (in English) |
|
Keyword(1) |
Central pattern generator |
Keyword(2) |
Quadrupedal locomotion |
Keyword(3) |
Action potential |
Keyword(4) |
Neural network |
Keyword(5) |
|
Keyword(6) |
|
Keyword(7) |
|
Keyword(8) |
|
1st Author's Name |
Hayate Kojima |
1st Author's Affiliation |
Niigata University (Niigata Univ.) |
2nd Author's Name |
Akihiro Maruyama |
2nd Author's Affiliation |
Niigata University (Niigata Univ.) |
3rd Author's Name |
Tomoyasu Ichimura |
3rd Author's Affiliation |
Oyama National College of Technology (ONCT) |
4th Author's Name |
Yoshinobu Maeda |
4th Author's Affiliation |
Niigata University (Niigata Univ.) |
5th Author's Name |
|
5th Author's Affiliation |
() |
6th Author's Name |
|
6th Author's Affiliation |
() |
7th Author's Name |
|
7th Author's Affiliation |
() |
8th Author's Name |
|
8th Author's Affiliation |
() |
9th Author's Name |
|
9th Author's Affiliation |
() |
10th Author's Name |
|
10th Author's Affiliation |
() |
11th Author's Name |
|
11th Author's Affiliation |
() |
12th Author's Name |
|
12th Author's Affiliation |
() |
13th Author's Name |
|
13th Author's Affiliation |
() |
14th Author's Name |
|
14th Author's Affiliation |
() |
15th Author's Name |
|
15th Author's Affiliation |
() |
16th Author's Name |
|
16th Author's Affiliation |
() |
17th Author's Name |
|
17th Author's Affiliation |
() |
18th Author's Name |
|
18th Author's Affiliation |
() |
19th Author's Name |
|
19th Author's Affiliation |
() |
20th Author's Name |
|
20th Author's Affiliation |
() |
Speaker |
Author-1 |
Date Time |
2014-11-20 10:00:00 |
Presentation Time |
20 minutes |
Registration for |
CAS |
Paper # |
CAS2014-87, MSS2014-51 |
Volume (vol) |
vol.114 |
Number (no) |
no.312(CAS), no.313(MSS) |
Page |
pp.1-6 |
#Pages |
6 |
Date of Issue |
2014-11-13 (CAS, MSS) |
|