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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
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  
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.)
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Date Time 2014-11-20 10:00:00 
Presentation Time 20 
Registration for CAS 
Paper # IEICE-CAS2014-87,IEICE-MSS2014-51 
Volume (vol) IEICE-114 
Number (no) no.312(CAS), no.313(MSS) 
Page pp.1-6 
#Pages IEICE-6 
Date of Issue IEICE-CAS-2014-11-13,IEICE-MSS-2014-11-13 

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