In this study, a mathematical model for the locomotion of the stick insect is developed. This model takes physiological conditions into account and it is capable of mimicking biological relevant features. The model is predicated on the crucial role, that sensory feedback plays in the coordination of limbs during walking. Central Pattern Generators (CPGs), which produce the rhythm of locomotion, are affected by sensory influences between the segments. The activities of the CPGs are transferred by the motoneurons to the muscles. Starting with existing neuron models and neuronal network models, a neuro-mechanical model is developed that includes the coupling of segments inside of a leg as well as the coupling of multiple legs. Firstly, mechanical models concerning the motion of the three isolated main joints are derived. These mechanical models are fused with the neuronal one. Thus, they represent neuro-mechanical models for the single joints that are coupled via sensory feedback. By means of the introduction of a switching mechanism the model is able to produce forward, backward and sideward stepping of a middle leg. Through the junction of two stepping middle legs to the body of the modeled stick insect, curve walking sequences with different curvatures can be produced. By extending the model to the front and the hind leg, the structure of intersegmental connection between the legs during the tripod and tetrapod gait can be generated. The change of stepping direction can be brought about by changing one single central command. If the middle leg is stepping backwards, the curvature during turning is smaller than in the case of sideward stepping. Weakly inhibitory intersegmental connections show the most accommodating leg coordination during both the tetrapod and the tripod gait.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A neuro-mechanical model for the switching of stepping direction and transitions between walking gaits in the stick insect


    Beteiligte:

    Erscheinungsdatum :

    2013-04-01


    Anmerkungen:

    Knops, Sascha Alexander (2013). A neuro-mechanical model for the switching of stepping direction and transitions between walking gaits in the stick insect. PhD thesis, Universität zu Köln.


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    500 / 510 / 629



    A kinematic model of stick‐insect walking

    Tóth, Tibor I. / Daun, Silvia | BASE | 2019

    Freier Zugriff

    A kinematic model of stick-insect walking

    Toth, Tibor, I / Daun, Silvia | BASE | 2019

    Freier Zugriff

    Quadrupedal gaits in hexapod animals - inter-leg coordination in free-walking adult stick insects

    Grabowska, Martyna / Godlewska, Elzbieta / Schmidt, Joachim et al. | BASE | 2012

    Freier Zugriff

    Gaits and geometry of a walking chair for the disabled

    Zhang, Chang-de / Song, Shin-Min | Elsevier | 1989


    Climbing favours the tripod gait over alternative faster insect gaits.

    Ramdya, P. / Thandiackal, R. / Cherney, R. et al. | BASE | 2017

    Freier Zugriff