Adaptive control for insect leg position: controller properties depend on substrate compliance

Cruse H, Kühn S, Park S, Schmitz J (2004)
Journal of Comparative Physiology A 190(12): 983-991.

Download
Es wurde kein Volltext hochgeladen. Nur Publikationsnachweis!
Zeitschriftenaufsatz | Veröffentlicht | Englisch
Autor
; ; ;
Abstract / Bemerkung
This paper concentrates on the system that controls the femur-tibia joint in the legs of the stick insect, Carausius morosus. Earlier investigations have shown that this joint is subject to a mixture of proportional and differential control whereby the differential part plays a prominent role. Experiments presented here suggest another interpretation: single legs of a stick insect were systematically perturbed using devices of different compliance and compensatory forces and movements monitored. When the compliance is high (soft spring), forces are generated that return the leg close to its original position. When the compliance is low (stiff spring), larger forces are generated but sustained changes in position occur that are proportional to the force that is applied. Selective ablation of leg sense organs showed that the leg did not maintain its position after elimination of afferents of the femoral chordotonal organ. Ablation of leg campaniform sensilla had no effect. These data support the idea that different control strategies are used, depending upon substrate compliance. In particular, what we and other authors have called a differential controller, is now considered as an integral controller that ldquointelligently gives uprdquo when the correlation between motor output and movement of the leg is low.
Erscheinungsjahr
Zeitschriftentitel
Journal of Comparative Physiology A
Band
190
Zeitschriftennummer
12
Seite
983-991
ISSN
eISSN
PUB-ID

Zitieren

Cruse H, Kühn S, Park S, Schmitz J. Adaptive control for insect leg position: controller properties depend on substrate compliance. Journal of Comparative Physiology A. 2004;190(12):983-991.
Cruse, H., Kühn, S., Park, S., & Schmitz, J. (2004). Adaptive control for insect leg position: controller properties depend on substrate compliance. Journal of Comparative Physiology A, 190(12), 983-991. doi:10.1007/s00359-004-0555-y
Cruse, H., Kühn, S., Park, S., and Schmitz, J. (2004). Adaptive control for insect leg position: controller properties depend on substrate compliance. Journal of Comparative Physiology A 190, 983-991.
Cruse, H., et al., 2004. Adaptive control for insect leg position: controller properties depend on substrate compliance. Journal of Comparative Physiology A, 190(12), p 983-991.
H. Cruse, et al., “Adaptive control for insect leg position: controller properties depend on substrate compliance”, Journal of Comparative Physiology A, vol. 190, 2004, pp. 983-991.
Cruse, H., Kühn, S., Park, S., Schmitz, J.: Adaptive control for insect leg position: controller properties depend on substrate compliance. Journal of Comparative Physiology A. 190, 983-991 (2004).
Cruse, Holk, Kühn, Simone, Park, Seung, and Schmitz, Josef. “Adaptive control for insect leg position: controller properties depend on substrate compliance”. Journal of Comparative Physiology A 190.12 (2004): 983-991.

7 Zitationen in Europe PMC

Daten bereitgestellt von Europe PubMed Central.

Walknet, a bio-inspired controller for hexapod walking.
Schilling M, Hoinville T, Schmitz J, Cruse H., Biol Cybern 107(4), 2013
PMID: 23824506
Controlling a system with redundant degrees of freedom: II. Solution of the force distribution problem without a body model.
Lévy J, Cruse H., J Comp Physiol A Neuroethol Sens Neural Behav Physiol 194(8), 2008
PMID: 18642004
Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain.
Spagna JC, Goldman DI, Lin PC, Koditschek DE, Full RJ., Bioinspir Biomim 2(1), 2007
PMID: 17671322
Adaptive, fast walking in a biped robot under neuronal control and learning.
Manoonpong P, Geng T, Kulvicius T, Porr B, Wörgötter F., PLoS Comput Biol 3(7), 2007
PMID: 17630828
Tethered stick insect walking: a modified slippery surface setup with optomotor stimulation and electrical monitoring of tarsal contact.
Gruhn M, Hoffmann O, Dübbert M, Scharstein H, Büschges A., J Neurosci Methods 158(2), 2006
PMID: 16824615

18 References

Daten bereitgestellt von Europe PubMed Central.

Reaction to disturbances of a walking leg during stance.
Bartling C, Schmitz J., J. Exp. Biol. 203(Pt 7), 2000
PMID: 10708641

U, Kybernetik 2(), 1965

U, J Comp Physiol 121(), 1977

U, 1983
Pattern generation for stick insect walking movements--multisensory control of a locomotor program.
Bassler U, Buschges A., Brain Res. Brain Res. Rev. 27(1), 1998
PMID: 9639677

U, Biol Cybern 45(), 1982

H, 1996

H, 1996
Walknet-a biologically inspired network to control six-legged walking.
Cruse H, Kindermann T, Schumm M, Dean J, Schmitz J., Neural Netw 11(7-8), 1998
PMID: 12662760

E, Biol Cybern 87(), 2003
Stick insects walking along inclined surfaces.
Diederich B, Schumm M, Cruse H., Integr. Comp. Biol. 42(1), 2002
PMID: 21708706
Interaction of leg stiffness and surfaces stiffness during human hopping.
Ferris DP, Farley CT, Ferris DP., J. Appl. Physiol. 82(1), 1997
PMID: 9029193

DP, Proc R Soc Lond B 265(), 1998

D, Adv Insect Physiol 18(), 1985

T, Adaptive Behav 9(), 2002

J, J Exp Biol 183(), 1993

J, Biol Cybern 25(), 1977

DP, J Exp Biol 96(), 1982

Export

Markieren/ Markierung löschen
Markierte Publikationen

Open Data PUB

Web of Science

Dieser Datensatz im Web of Science®

Quellen

PMID: 15378330
PubMed | Europe PMC

Suchen in

Google Scholar