From swimming to walking with a salamander robot driven by a spinal cord model.
- Ijspeert AJ School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Station 14, CH-1015 Lausanne, Switzerland. auke.ijspeert@epfl.ch
- Crespi A
- Ryczko D
- Cabelguen JM
- 2007-03-10
Published in:
- Science (New York, N.Y.). - 2007
Animals
Biological Evolution
Biomechanical Phenomena
Brain Stem
Electric Stimulation
Extremities
Gait
Locomotion
Mathematics
Models, Biological
Models, Neurological
Motor Neurons
Nerve Net
Pleurodeles
Robotics
Spinal Cord
Swimming
Walking
English
The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can be extended by phylogenetically more recent limb oscillatory centers to explain the ability of salamanders to switch between swimming and walking. The model suggests neural mechanisms for modulation of velocity, direction, and type of gait that are relevant for all tetrapods. It predicts that limb oscillatory centers have lower intrinsic frequencies than body oscillatory centers, and we present biological data supporting this.
- Language
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- English
- Open access status
- green
- Identifiers
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- DOI 10.1126/science.1138353
- PMID 17347441
- Persistent URL
- https://folia.unifr.ch/global/documents/102312
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