Animal locomotion control is in a large part based on central pattern generators (CPGs), which are neural networks capable of producing complex rhythmic patterns while being activated and modulated by relatively simple control signals. These networks are located in the spinal cord for vertebrate animals. In this talk, I will present our work on developing numerical models of CPGs in lower vertebrates (lamprey and salamander). I will also present how we test the CPG models on board of amphibious robots, in particular a new salamander-like robot capable of swimming and walking. The goal of the project is to explore three important questions related to vertebrate locomotion: (i) the modifications undergone by the spinal locomotor circuits during the evolutionary transition from aquatic to terrestrial locomotion, (ii) the mechanisms necessary for coordination of limb and axial movements, and (iii) the mechanisms that underlie gait transitions induced by simple electrical stimulation of the brain stem. If time allows, I will also briefly present how abstract CPG models can be used control the locomotion of quadruped and humanoid robots.
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