2012 年 50 巻 6 号 p. 620-628
Rhythm in biology such as walking patterns (gait) is thought as being controlled by a neural network called central pattern generator, or CPG. However, its mechanism from a viewpoint of physiology has not been clear. Rybak et al. (2006) proposed a neural network model of the CPG using Hodgkin-Huxley type equations, and showed that the dynamics calculated by their model reproduced the experimental results using the decerebrate cat. Furthermore, they made several improvements on their model by means of adding the afferent stimulations from the extensor and flexor sites. In this paper, we constructed a similar network model from the viewpoint of the electronic circuit design, and, as such, reproduce completely the dynamics obtained from Rybak's mathematical model. Using such hardware simulations, one can design and control walking patterns of the locomotion robot without using software program, and implement its real-time simulation.