NDLI: A salamander's flexible spinal network for locomotion, modeled at two levels of abstraction.

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A salamander's flexible spinal network for locomotion, modeled at two levels of abstraction.

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A salamander's flexible spinal network for locomotion, modeled at two levels of abstraction.

Content Provider	World Health Organization (WHO)-Global Index Medicus
Author	Knüsel, Jeremie Bicanski, Andrej Ryczko, Dimitri Cabelguen, Jean-Marie Ijspeert, Auke Jan
Description	Country affiliation: Switzerland Author Affiliation: Knüsel J ( Biorobotics Laboratory, School of Engineering, École Polytechnique Fédérale de Lausanne, Station 14, CH 1015 Lausanne, Switzerland. jeremie.knuesel@epfl.ch)
Abstract	Animals have to coordinate a large number of muscles in different ways to efficiently move at various speeds and in different and complex environments. This coordination is in large part based on central pattern generators (CPGs). These neural networks are capable of producing complex rhythmic patterns when activated and modulated by relatively simple control signals. Although the generation of particular gaits by CPGs has been successfully modeled at many levels of abstraction, the principles underlying the generation and selection of a diversity of patterns of coordination in a single neural network are still not well understood. The present work specifically addresses the flexibility of the spinal locomotor networks in salamanders. We compare an abstract oscillator model and a CPG network composed of integrate-and-fire neurons, according to their ability to account for different axial patterns of coordination, and in particular the transition in gait between swimming and stepping modes. The topology of the network is inspired by models of the lamprey CPG, complemented by additions based on experimental data from isolated spinal cords of salamanders. Oscillatory centers of the limbs are included in a way that preserves the flexibility of the axial network. Similarly to the selection of forward and backward swimming in lamprey models via different excitation to the first axial segment, we can account for the modification of the axial coordination pattern between swimming and forward stepping on land in the salamander model, via different uncoupled frequencies in limb versus axial oscillators (for the same level of excitation). These results transfer partially to a more realistic model based on formal spiking neurons, and we discuss the difference between the abstract oscillator model and the model built with formal spiking neurons.
File Format	HTM / HTML
ISSN	15407063
e-ISSN	15577023
Journal	Integrative and Comparative Biology
Issue Number	2
Volume Number	53
Language	English
Publisher	Oxford University Press
Publisher Date	2013-08-01
Publisher Place	Great Britain (UK)
Access Restriction	Open
Subject Keyword	Discipline Zoology Discipline Biology Locomotion Physiology Models, Biological Models, Neurological Spinal Nerves Urodela Action Potentials Animals Biological Clocks Gait Nerve Net Anatomy & Histology Time Factors Research Support, Non-u.s. Gov't Research Support, U.s. Gov't, Non-p.h.s.
Content Type	Text
Resource Type	Article
Subject	Plant Science Medicine Animal Science and Zoology

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