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Emergence of adaptability to time delay in bipedal locomotion.

Authors :
Ohgane, Kunishige
Ei, Shin-ichiro
Kazutoshi, Kudo
Ohtsuki, Tatsuyuki
Source :
Biological Cybernetics; 2004, Vol. 90 Issue 2, p125-132, 8p
Publication Year :
2004

Abstract

Based on neurophysiological evidence, theoretical studies have shown that locomotion is generated by mutual entrainment between the oscillatory activities of central pattern generators (CPGs) and body motion. However, it has also been shown that the time delay in the sensorimotor loop can destabilize mutual entrainment and result in the failure to walk. In this study, a new mechanism called flexible-phase locking is proposed to overcome the time delay. It is realized by employing the Bonhoeffer--Van der Pol formalism -- well known as a physiologically faithful neuronal model for neurons in the CPG. The formalism states that neurons modulate their phase according to the delay so that mutual entrainment is stabilized. Flexible-phase locking derives from the phase dynamics related to an asymptotically stable limit cycle of the neuron. The effectiveness of the mechanism is verified by computer simulations of a bipedal locomotion model. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
03401200
Volume :
90
Issue :
2
Database :
Complementary Index
Journal :
Biological Cybernetics
Publication Type :
Academic Journal
Accession number :
13281640
Full Text :
https://doi.org/10.1007/s00422-003-0450-6