Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

Diverse locomotor behaviors emerge from the interactions between the spinal central pattern generator (CPG), descending brain signals and sensory feedback. Salamander motor behaviors include swimming, struggling, forward underwater stepping, and forward and backward terrestrial stepping. Electromyog...

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Bibliographic Details
Main Authors: Jérémie Knüsel, Alessandro Crespi, Jean-Marie Cabelguen, Auke J. Ijspeert, Dimitri Ryczko
Format: Article
Language:English
Published: Frontiers Media S.A. 2020-12-01
Series:Frontiers in Neurorobotics
Subjects:
central pattern generator (CPG)
proprioceptive sensory feedback
descending drive
distributed control
salamander
locomotion
Online Access:https://www.frontiersin.org/articles/10.3389/fnbot.2020.604426/full

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https://www.frontiersin.org/articles/10.3389/fnbot.2020.604426/full

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