Adaptive control for hindlimb locomotion in a simulated mouse through
temporal cerebellar learning
- URL: http://arxiv.org/abs/2002.02807v2
- Date: Mon, 17 Feb 2020 09:00:27 GMT
- Title: Adaptive control for hindlimb locomotion in a simulated mouse through
temporal cerebellar learning
- Authors: T. P. Jensen, S. Tata, A. J. Ijspeert, S. Tolu
- Abstract summary: Bio-inspired control system for adaptive locomotion of the musculoskeletal system of the mouse is presented.
A cerebellar-like module adapts the step time by using the double support interlimb asymmetry as a temporal teaching signal.
Results show adaptive locomotion behavior in the interlimb parameters similar to that seen in humans and mice.
- Score: 0.0
- License: http://creativecommons.org/licenses/by/4.0/
- Abstract: Human beings and other vertebrates show remarkable performance and efficiency
in locomotion, but the functioning of their biological control systems for
locomotion is still only partially understood. The basic patterns and timing
for locomotion are provided by a central pattern generator (CPG) in the spinal
cord. The cerebellum is known to play an important role in adaptive locomotion.
Recent studies have given insights into the error signals responsible for
driving the cerebellar adaptation in locomotion. However, the question of how
the cerebellar output influences the gait remains unanswered. We hypothesize
that the cerebellar correction is applied to the pattern formation part of the
CPG. Here, a bio-inspired control system for adaptive locomotion of the
musculoskeletal system of the mouse is presented, where a cerebellar-like
module adapts the step time by using the double support interlimb asymmetry as
a temporal teaching signal. The control system is tested on a simulated mouse
in a split-belt treadmill setup similar to those used in experiments with real
mice. The results show adaptive locomotion behavior in the interlimb parameters
similar to that seen in humans and mice. The control system adaptively
decreases the double support asymmetry that occurs due to environmental
perturbations in the split-belt protocol.
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