A new model describing the coordination pattern of the legs of a walking stick insect

Cruse, Holk

doi:10.1007/bf00337442

Cited by 38 publications

(14 citation statements)

References 14 publications

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“…The most popular CPG modelling approach, however, has been to construct and analyse systems of coupled nonlinear oscillators. Wendler (1968Wendler ( , 1978, Graham (1972Graham ( , 1977, Cruse (1979Cruse ( , 1980a and Dean (1991)all used relaxation oscillators to represent the control mechanisms of a single insect leg and/or group of insect legs. Yuasa and Ito (1990) and Bay and Hemami (1987) utilised systems of four coupled nonlinear oscillators to synthesise the limb movements of quadrupeds and segmented bipeds, respectively.…”

Section: Introductionmentioning

confidence: 99%

Hexapodal gaits and coupled nonlinear oscillator models

1993

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Abstract. The general, model-independent features of different networks of six symmetrically coupled nonlinear oscillators are investigated. These networks are considered as possible models for locomotor central pattern generators (CPGs) in insects. Numerical experiments with a specific oscillator network model are briefly described. It is shown that some generic phaselocked oscillation-patterns for various systems of six symmetrically coupled nonlinear oscillators correspond to the common forward-walking gaits adopted by insects. It is also demonstrated that transitions observed in insect gaits can be modelled as standard symmetrybreaking bifurcations occurring in such systems. The present analysis, which leads to a natural classification of hexapodal gaits by symmetry and to natural sequences of gait bifurcations, relates observed gaits to the overall organizational structure of the underlying CPG. The implications of the present results for the development of simplified control systems for hexapodal walking robots are discussed.

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Section: Introductionmentioning

confidence: 99%

Hexapodal gaits and coupled nonlinear oscillator models

1993

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“…Especially for the first instar stick insect Graham (1972) described two different gaits in an overlapping range of walking speeds within the same animal. Behavioral investigations of unrestrained and tethered walking animals together with electrophysiological experiments, elaborate surgery and a multiplicity of other experimental approaches reviewed recently (B/issler 1983;Graham 1985) have led to a detailed description of sensory subsystems of the single leg, of coordinating influences between different legs and to the construction of a variety of models concerning leg coordination (Wendler 1968(Wendler , 1978Graham 1972Graham , 1977Cruse 1979aCruse , 1980a.…”

Section: Introductionmentioning

confidence: 99%

Coordination of legs during straight walking and turning in Drosophila melanogaster

1990

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Leg coordination of Drosophila melanogaster was studied using frame-by-frame film analysis. 1. For fastest walking alternating tripod coordination is observed which slightly deviates towards tetrapody as a function of step period. During acceleration or deceleration legs may transiently recover in diagonal pairs. 2. Mean step length increases with step frequency. 3. Mean recovery stroke duration increases with step period and plateaus beyond a period of about 110 ms. Middle legs recover significantly faster than others. 4. Ipsilateral footprints are transversally separated. 5. Walking is usually initiated in tripod coordination (frequently in combination with a turn), otherwise in an accelerating sequence which rapidly shifts towards tripod pattern. Flies can stop abruptly or decelerate over about one metachronal wave. 6. Short interruptions in walking are observed. Legs interrupted during swing phase stay lifted and finish recovery thereafter. 7. Slight changes in walking direction are obtained by altering step lengths only. Tight turns are composed of two or three phases with backward, zero and forward translatory components. In fast turning tripod coordination is maintained. Otherwise body sides can decouple widely. In all turns numbers of contralateral metachronal waves were equal. Results are compared to those for other walking insects and their relevance in screens for locomotor mutants is discussed.

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“…* Supported by DFG (Cr 58/1) One possible approach to this problem is to build up hypothetical models as Wendler (1968Wendler ( , 1978, Graham (1972Graham ( , 1977, Cruse (1979). Such a quantitative hypothesis can then be tested by comparing the calculated results with the largest possible number of experimental results.…”

Section: Introductionmentioning

confidence: 99%

Oscillations of force in the standing legs of a walking insect (Carausius morosus)

Cruse

Saxler

1980

Biol. Cybernetics

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Abstract.In the experiments presented here adult stick insects (Carausius morosus) walk on a treadwheel with various legs standing on platforms fixed relative to the body of the insect. These standing legs produce large forces directed towards the rear which are modulated in the rhythm of the walking legs. Neighbouring legs which both stand on a platform often oscillate "in phase". Possible reasons for the occurrence of the force oscillations are discussed.

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A new model describing the coordination pattern of the legs of a walking stick insect

Cited by 38 publications

References 14 publications

Hexapodal gaits and coupled nonlinear oscillator models

Hexapodal gaits and coupled nonlinear oscillator models

Coordination of legs during straight walking and turning in Drosophila melanogaster

Oscillations of force in the standing legs of a walking insect (Carausius morosus)

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