Localized Neural Network Control of Spring Actuated Leg
For any animal to move about in an unstructured and dynamic environment it must have an adaptable locomotor control system. In legged vertebrates much of this control is handled by local circuits in the spinal cord . The object of a neural controller is to lead the mechanical system through the proper motion pattern. This system must strive to be energy efficient, a task which is enabled through the use of springs in the form of muscle tendons . Our simulated model incorporates local circuitry, series elasticity, sensory feedback and higher level control.
KeywordsStance Phase Sensory Feedback Step Cycle Control Neuron Neural Controller
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