Emergence of the gait transition by a simulated quadruped model with the bio-inspired neural system and musculoskeletal structure

Abstract

This study aims to understand the principles of gait (the order of the movement of four legs) transition phenomenon in quadrupedal animals. Each of a quadruped animal's gaits are considered to be generated by neural networks placed in the spinal cord. Furthermore, the gait is changed according to its speed. However, the mechanism of gait transition is still unrevealed. To reveal it, we built a simulated quadruped model which is equipped with a cat's musculoskeletal system and nervous system that consists of central pattern generators (CPGs) and sensory afferent feedbacks. The model safely locomoted with a trot gait at a variety of speeds. We aim to allow the model to walk with leg load feedbacks.