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Paper Abstract and Keywords
Presentation 2017-01-27 11:10
Group-Theoretic Consideration of Quadrupedal Locomotion Rhythms Generated by Hardware CPG Models
Yoshinobu Maeda, Naruki Sasagawa, Satoshi Oyake (Niigata Univ.) CAS2016-103 ICTSSL2016-57
Abstract (in Japanese) (See Japanese page) 
(in English) We have reproduced several quadrupedal locomotion rhythms on a hard-wired electronic circuit model by mimicking neural networks of the central pattern generator (CPG). A novelty is to be able to reproduce them by modulating a few parameters at most. The electronic circuit model is composed as the Z4×Z2 symmetry group, originally proposed by Golubitsky et al. in 1998. Modulating one parameter, which is a voltage signal from midbrain locomotor region, then walking, trotting, and bounding gaits, so-called, the primary gait, were reproduced and switched each other. Additionally, modulating another parameter, which is also voltage signal located on the synaptic coupling from right to left CPGs, then galloping and cantering gaits, so-called, the secondary gait, were also reproduced by bifurcating from the primary gait. In this technical report, we theoretically described typical locomotion rhythms (walk, trot, bound, gallop, and canter) emerged on the Z4×Z2 symmetry group, by following group-theoretic works of Golubitsky et al. and Buono et al.
Keyword (in Japanese) (See Japanese page) 
(in English) Gait / Central pattern generator / Hard-wired / Symmetry / Homomorphism theorem / / /  
Reference Info. IEICE Tech. Rep., vol. 116, no. 421, CAS2016-103, pp. 121-126, Jan. 2017.
Paper # CAS2016-103 
Date of Issue 2017-01-19 (CAS, ICTSSL) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee CAS ICTSSL  
Conference Date 2017-01-26 - 2017-01-27 
Place (in Japanese) (See Japanese page) 
Place (in English) Kikai-Shinko-Kaikan Bldg. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To CAS 
Conference Code 2017-01-CAS-ICTSSL 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Group-Theoretic Consideration of Quadrupedal Locomotion Rhythms Generated by Hardware CPG Models 
Sub Title (in English)  
Keyword(1) Gait  
Keyword(2) Central pattern generator  
Keyword(3) Hard-wired  
Keyword(4) Symmetry  
Keyword(5) Homomorphism theorem  
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1st Author's Name Yoshinobu Maeda  
1st Author's Affiliation Niigata University (Niigata Univ.)
2nd Author's Name Naruki Sasagawa  
2nd Author's Affiliation Niigata University (Niigata Univ.)
3rd Author's Name Satoshi Oyake  
3rd Author's Affiliation Niigata University (Niigata Univ.)
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Speaker Author-1 
Date Time 2017-01-27 11:10:00 
Presentation Time 20 minutes 
Registration for CAS 
Paper # CAS2016-103, ICTSSL2016-57 
Volume (vol) vol.116 
Number (no) no.421(CAS), no.422(ICTSSL) 
Page pp.121-126 
#Pages 6 
Date of Issue 2017-01-19 (CAS, ICTSSL) 

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