Journal
CHAOS
Volume 19, Issue 2, Pages -Publisher
AMER INST PHYSICS
DOI: 10.1063/1.3141306
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We describe a hierarchy of models for legged locomotion, emphasizing relationships among feedforward (preflexive) stability, maneuverability, and reflexive feedback. We focus on a hexapedal geometry representative of insect locomotion in the ground plane that includes a neural central pattern generator circuit, nonlinear muscles, and a representative proprioceptive sensory pathway. Although these components of the model are rather complex, neglect of leg mass yields a neuro-mechanical system with only three degrees of freedom, and numerical simulations coupled with a Poincare map analysis shows that the feedforward dynamics is strongly stable, apart from one relatively slow mode and a neutral mode in body yaw angle. These modes moderate high frequency perturbations, producing slow heading changes that can be corrected by a stride-to-stride steering strategy. We show that the model's response to a lateral impulsive perturbation closely matches that of a cockroach subject to a similar impulse. We also describe preliminary studies of proprioceptive leg force feedback, showing how a reflexive pathway can reinforce the preflexive stability inherent in the system. (C) 2009 American Institute of Physics. [DOI: 10.1063/1.3141306]
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