Robocats
We have recently been using mathematical models of quadruped gait to answer questions such as:
- In the absence of sensory input, how well can the biomechanical properties of muscles compensate for alterations in locomotor speed, terrain etc?
- What is the nature of the sensory rules that are used to control locomotion over uneven terrain?
Click on the images to view movies of our robocat, which Sergiy calls "Begemoth," with and without sensory IF-THEN rules that control the transitions from stance to swing phase and back.
For more information on current mathematical models of locomotion please click here to access Sergiy Yakovenko's site
Related Files:
PROCHAZKA, A. & YAKOVENKO, S. (2001) Locomotor control: from spring-like reactions of muscles to neural prediction. In: The Somatosensory System: Deciphering The Brain's Own Body Image. ed. Nelson, R.J. Boca Raton, CRC Press, 141-181
PROCHAZKA, A., GRITSENKO, V. & YAKOVENKO, S. (2002) Sensory control of locomotion: reflexes versus higher-level control. In: Sensori-Motor Control, ed., S.G. Gandevia. U. Proske & D.G. Stuart, Kluwer Academic/Plenum, New York.
YAKOVENKO, S., GRITSENKO, V., PROCHAZKA, A. (2004) Contribution of stretch reflexes to locomotor control: a modeling study. Biological Cybernetics
PROCHAZKA, A. & YAKOVENKO, S. (2007) Prochazka A, and Yakovenko S. The neuromechanical tuning hypothesis. In: Prog. Brain Res. Computational Neuroscience: Theoretical Insights into Brain Function, edited by Cisek P, Drew, T. & Kalaska, J. NY: Elsevier, 2007, p. 255-265.
PROCHAZKA, A. & YAKOVENKO, S. (2007) Predictive and reactive tuning of the locomotor CPG. Integrative and Comparative Biology 47: 474-481, 2007b.
Movies:
ROBOCATS : No If-Then rules
ROBOCATS : With If-Then rules