HARD-WIRED CENTRAL PATTERN GENERATORS FOR QUADRUPEDAL LOCOMOTION
HARD-WIRED CENTRAL PATTERN GENERATORS FOR QUADRUPEDAL LOCOMOTION
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DOI：
10.1007/bf00198915
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发表时间：
1994-09-01
影响因子：
1.9
通讯作者：
RICHMOND, SA
中科院分区：
文献类型：
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作者：
COLLINS, JJ;RICHMOND, SA
动物运动的产生和控制，部分，由中央模式发生器（CPG），这是一个脊髓内的神经元网络能够产生节奏的输出。在目前的工作中，它表明，一个硬连线的CPG模型，由四个耦合的非线性振荡器，可以产生多个锁相振荡模式，对应于三个常见的四足步态-步行，小跑，和绑定。通过改变网络的驱动信号和/或通过改变内部振荡器参数来生成不同步态之间的过渡。在不改变系统的突触互连的相对强度或极性的情况下获得上述数字结果，即，网络保持不变的耦合结构。还示出了硬连线CPG网络产生多个步态模式并在多个步态模式之间切换的能力是与模型无关的现象，即，它不依赖于分量振荡器的详细动态和/或振荡器间耦合的性质。三种不同的神经元振荡器模型-Stein神经元模型，货车der Pol振荡器，和FitzHugh-Nagumo模型-和两种不同的耦合方案被纳入网络，而不妨碍其产生三个四足步态和上述步态转换的能力。
Animal locomotion is generated and controlled, in part, by a central pattern generator (CPG), which is an intraspinal network of neurons capable of producing rhythmic output. In the present work, it is demonstrated that a hard-wired CPG model, made up of four coupled nonlinear oscillators, can produce multiple phase-locked oscillation patterns that correspond to three common quadrupedal gaits - the walk, trot, and bound. Transitions between the different gaits are generated by varying the network's driving signal and/or by altering internal oscillator parameters. The above in numero results are obtained without changing the relative strengths or the polarities of the system's synaptic interconnections, i.e., the network maintains an invariant coupling architecture. It is also shown that the ability of the hard-wired CPG network to produce and switch between multiple gait patterns is a model-independent phenomenon, i.e., it does not depend upon the detailed dynamics of the component oscillators and/or the nature of the inter-oscillator coupling. Three different neuronal oscillator models - the Stein neuronal model, the Van der Pol oscillator, and the FitzHugh-Nagumo model - and two different coupling schemes are incorporated into the network without impeding its ability to produce the three quadrupedal gaits and the aforementioned gait transitions.