Presentation 2012-11-16
An Electronic Circuit Design that Controls Four-leg Animal Gaits
Hayate KOJIMA, Masahito KUBOTA, Tatsushi DOMON, Yasuyuki SUZUKI, Taishin NOMURA, Yoshinobu MAEDA,
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Abstract(in English) This paper addresses hardware modeling of replicating several walking patterns (gaits) observed in four-leg animals. They show a lot of gaits such as walk, trot, bound, etc., depending on their travel velocity. Mathematical modeling has been useful to replicate plausible oscillatory rhythms corresponding to the biological gaits. However, you have to change simultaneously many parameters in such models to switch on some gait from another. In this report, we reproduced four typical gaits (stand, pronk, walk and bound) by designing and constructing a network model using electronic circuits. The remarkable point was that the gait was switchable by an only single parameter in the hardware model. Furthermore, we regulated the bifurcation structure of the hardware model, to adjust to the typical bifurcations observed in the mathematical models.
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Keyword(in English) Hodgkin-Huxley equation / Hopfbifurcation / Gait / Negative resistance
Paper # MBE2012-46
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Committee MBE
Conference Date 2012/11/9(1days)
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Paper Information
Registration To ME and Bio Cybernetics (MBE)
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) An Electronic Circuit Design that Controls Four-leg Animal Gaits
Sub Title (in English)
Keyword(1) Hodgkin-Huxley equation
Keyword(2) Hopfbifurcation
Keyword(3) Gait
Keyword(4) Negative resistance
1st Author's Name Hayate KOJIMA
1st Author's Affiliation Faculty of Engineering, Niigata University()
2nd Author's Name Masahito KUBOTA
2nd Author's Affiliation Graduate School of Science and Technology, Niigata University
3rd Author's Name Tatsushi DOMON
3rd Author's Affiliation Graduate School of Science and Technology, Niigata University
4th Author's Name Yasuyuki SUZUKI
4th Author's Affiliation Graduate School of Engineering Science, Osaka University
5th Author's Name Taishin NOMURA
5th Author's Affiliation Graduate School of Engineering Science, Osaka University
6th Author's Name Yoshinobu MAEDA
6th Author's Affiliation Graduate School of Science and Technology, Niigata University
Date 2012-11-16
Paper # MBE2012-46
Volume (vol) vol.112
Number (no) 297
Page pp.pp.-
#Pages 6
Date of Issue