Neuromechanical Simulation of an Inter-leg Controller for Tetrapod Coordination

A biologically inspired control system has been developed for coordinating a tetrapod walking gait in the sagittal plane. The controller is built with biologically based neurons and synapses, and connections are based on data from literature where available. It is applied to a simplified, planar biomechanical model of a rat with 14 joints with an antagonistic pair of Hill muscle models per joint. The controller generates tension in the muscles through activation of simulated motoneurons. Though significant portions of the controller are based on cat research, this model is capable of reproducing hind leg behavior observed in walking rats. Additionally, the applied inter-leg coordination pathways between fore and hind legs are capable of creating and maintaining coordination in this rat model. Ablation tests of the different connections involved in coordination indicate the role of each connection in providing coordination with low variability.

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