Transactions of Japanese Society for Medical and Biological Engineering
Online ISSN : 1881-4379
Print ISSN : 1347-443X
ISSN-L : 1347-443X
Proceedings
Analysis of quadrupedal locomotion and energy using hardware CPG model
Naruki SasagawaSatoshi OyakeYoshinobu Maeda
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2016 Volume 54Annual Issue 27PM-Abstract Pages S200

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Abstract

It is thought that quadrupedal gaits are assumed to be generated by the central pattern generators (CPGs) which is hypothesized to exist in the spinal cord. We have modeled, using electronic circuits and hardware modules, a hard-wired network composed of eight CPGs (Z4×Z2 symmetry) that was originally proposed by Golubitsky et al. from the theoretical approach. Furthermore, we reproduced switching phenomena between quadrupedal locomotion patterns by manipulating the only one parameter (externally inputted DC voltage). In this study, we clarify the switching phenomena from the viewpoint of the necessary energy to change the locomotion patterns. Hoyt et al. experimentally examined that horses selected the gaits (locomotion patterns) so as to minimize the oxygen consumption per unit distance. We examined the relation between the switching phenomena in the hardware model and the necessary electric power, by using the circuit simulator, LT Spice IV.

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© 2016 Japanese Society for Medical and Biological Engineering
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