Modeling and analysis of a new locomotion control neural networks

Abstract

Experimental data have shown that inherent bursting of the neuron plays an important role in the generation of rhythmic movements in spinal networks. Based on the mechanism that the spinal neurons of a lamprey generate this inherent bursting, this paper builds a simplified inherent bursting neuron model. A new locomotion control neural network is built that takes advantage of this neuron model and its performance is analyzed mathematically and by numerical simulation. From these analyses, it is found that the new control networks have no restriction on their topological structure for generating the oscillatory outputs. If a network is used to control the motion of bionic robots or build the model of the vertebrate spinal circuitry, its topological structure can be constructed using the unit burst generator model proposed by Grillner. The networks can also be easily switched between oscillatory and non-oscillatory output. Additionally, inactivity and saturation properties of the new networks can also be developed, which will be helpful to increase the motor flexibility and environmental adaptability of bionic robots.

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