Frontiers | A Reciprocal Excitatory Reflex Between Extensors Reproduces the Prolongation of Stance Phase in Walking Cats: Analysis on a Robotic Platform | Frontiers in Neurorobotics

Frontiers | A Reciprocal Excitatory Reflex Between Extensors Reproduces the Prolongation of Stance Phase in Walking Cats: Analysis on a Robotic Platform | Frontiers in Neurorobotics

Spinal reflex is essential to the robust locomotion of quadruped animals. To investigate the reflex mechanisms, we developed a quadruped robot platform that emulates the neuromuscular dynamics of animals. The leg is designed to be highly back-drivable, and four Hill-type muscles and neuronal pathways are simulated on each leg using software. By searching for the reflex circuit that contributes to the generation of steady gait in cats through robotic experiments, we found a simple reflex circuit that could produce leg trajectories and a steady gait. In addition, this circuit can reproduce the experimental behavior observed in cats. As a major contribution of this study, we show that the underlying structure of the reflex circuit is the reciprocal coupling between extensor muscles via excitatory neural pathways. In the walking experiments on the robot, a steady gait and experimental behaviors of walking cats emerged from the reflex circuit without any central pattern generators. Furtherm

1 mentions: @nas_alpha
Keywords: robotics
Date: 2021/04/08 16:47

Referring Tweets

@nas_alpha ネコの反射回路を四脚ロボット上で再現して理解する論文がAcceptされました。ネコの歩行を司る反射構造の有力候補を発見。修士学生の成果です。 t.co/Lx85RNssz3

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