Abstract
In previous work, we built a neuromechanical model for insect locomotion in the horizontal plane, containing a central pattern generator, motoneurons, muscles actuating jointed legs, and rudimentary proprioceptive feedback. This was subsequently simplified to a set of 24 phase oscillators describing motoneuronal activation of agonist–antagonist muscle pairs, which facilitates analyses and enables simulations over multi-dimensional parameter spaces. Here we use the phase-reduced model to study dynamics and stability over the typical speed range of the cockroach Blaberus discoidalis, the effects of feedback on response to perturbations, strategies for turning, and a trade-off between stability and maneuverability. We also compare model behavior with experiments on lateral perturbations, changes in body mass and moment of inertia, and climbing dynamics, and we present a simple control strategy for steering using exteroceptive feedback.
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Acknowledgements
This work was partially supported by NSF EF-0425878 (Frontiers in Biological Research), NSF DMS-1430077 (CRCNS U.S.-German Collaboration) and Princeton’s J. Insley Blair Pyne Fund. We thank the anonymous reviewers for their useful suggestions and for helping us to correct several errors.
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Communicated by J. Leo van Hemmen.
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Proctor, J.L., Holmes, P. The effects of feedback on stability and maneuverability of a phase-reduced model for cockroach locomotion. Biol Cybern 112, 387–401 (2018). https://doi.org/10.1007/s00422-018-0762-1
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DOI: https://doi.org/10.1007/s00422-018-0762-1