Analysis of a network model for inter-leg coordination in multi-legged locomotion

• Applicant: Professorin Dr. Silvia Daun
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: from 2014 to 2020
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 258957826

In the research on terrestrial locomotion it is of fundamental importance to understand the neural control of the movements of individual legs and the coordination between the different legs. This problem can be studied in insects (e.g. the stick insect) much more easily than in vertebrates. Results from insects indicate the existence of weak neural connections between the rhythm generating units (CPGs), which periodically drive the individual legs. These connections are enhanced by local sensory feedback signals, like mechanical load signals from the legs. They are crucial for the coordination of the movements of the individual legs. My group and I have already constructed mathematical models using some of these results and principles. Starting from these models and the investigations I have done during the first funding period of the Sachbeihilfe, I will continue to answer specific questions on the neural processes that underlie the coordination between segmental CPGs in multi-legged animals during locomotion. This project is in collaboration with Prof. Holmes, Princeton University, and Prof. Büschges, University of Cologne. Furthermore, as a test of generality of the aforementioned principles, I will apply my neural controllers to robots. I intend to do this in collaboration with Prof. Axel Schneider, FH Bielefeld, University of Applied Sciences and Jun-Prof. Syn Schmitt, Department of Sport and Exercise Science, University of Stuttgart.

• DFG Programme: Research Grants