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Biological Cybernetics

, Volume 112, Issue 4, pp 387–401 | Cite as

The effects of feedback on stability and maneuverability of a phase-reduced model for cockroach locomotion

  • J. L. Proctor
  • P. Holmes
Original Article
First Online:
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Abstract

In previous work, we built a neuromechanical model for insect locomotion in the horizontal plane, containing a central pattern generator, motoneurons, muscles actuating jointed legs, and rudimentary proprioceptive feedback. This was subsequently simplified to a set of 24 phase oscillators describing motoneuronal activation of agonist–antagonist muscle pairs, which facilitates analyses and enables simulations over multi-dimensional parameter spaces. Here we use the phase-reduced model to study dynamics and stability over the typical speed range of the cockroach Blaberus discoidalis, the effects of feedback on response to perturbations, strategies for turning, and a trade-off between stability and maneuverability. We also compare model behavior with experiments on lateral perturbations, changes in body mass and moment of inertia, and climbing dynamics, and we present a simple control strategy for steering using exteroceptive feedback.

Keywords

Exteroception Feedback control Hybrid systems Neuromechanics Proprioception Stability–maneuverability trade-off 
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Notes

Acknowledgements

This work was partially supported by NSF EF-0425878 (Frontiers in Biological Research), NSF DMS-1430077 (CRCNS U.S.-German Collaboration) and Princeton’s J. Insley Blair Pyne Fund. We thank the anonymous reviewers for their useful suggestions and for helping us to correct several errors.

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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Institute for Disease ModelingBellevueUSA
  2. 2.Department of Mechanical and Aerospace Engineering, Program in Applied and Computational Mathematics and Princeton Neuroscience InstitutePrinceton UniversityPrincetonUSA

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