NDLI: Controlling a system with redundant degrees of freedom: transition from standing to walking

Content Provider	Springer Nature Link
Author	Jérémy, Lévy
Copyright Year	2009
Abstract	In earlier investigations Lévy and Cruse (J Comp Physiol 194:719–733, 2008; J Comp Physiol 194:735–750, 2008) asked the question that how the nervous system of a stick insect, Carausius morosus, chooses a solution from an abundance of possibilities to solve the task of distributing its body weight onto its six legs, i.e., the torques that are produced by the 18 joints (three per leg). This paper concentrates on the transition from standing to walking using semi-parametrical regression models. Results presented are basically descriptive and do not deal yet with underlying mechanisms. Based on torque changes, the first swing movement is initiated at about 0.3 s before the first leg takes off. The way torques change depends on the joint type, on whether the leg is going to swing and on the number of legs swinging, but not on the leg type, not on the torques size and not on the stepping configuration. Furthermore, the more legs are lifted off to begin a swing movement the higher are the torques produced. The results might be interpreted such that legs starting a swing movement develop, before lift off, levating torques to overcome the adhesive forces produced by the tarsi, whereas the other legs develop depressing torques to maintain the posture.
Starting Page	429
Ending Page	443
Page Count	15
File Format	PDF
ISSN	03407594
Journal	Journal of Comparative Physiology A
Volume Number	195
Issue Number	5
e-ISSN	14321351
Language	English
Publisher	Springer-Verlag
Publisher Date	2009-02-20
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Stick insects Standing Walking Torques Redundant degree of freedom Animal Physiology Zoology Neurosciences
Content Type	Text
Resource Type	Article
Subject	Physiology Behavioral Neuroscience Animal Science and Zoology Ecology, Evolution, Behavior and Systematics

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