Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect

Harischandra N, Krause AF, Dürr V (2015)
Frontiers in Computational Neuroscience 9: 107.

Download
OA
Journal Article | Published | English
Abstract
An essential component of autonomous and flexible behaviour in animals is active exploration of the environment, allowing for perception-guided planning and control of actions. An important sensory system involved is active touch. Here, we introduce a general modelling framework of Central Pattern Generators (CPGs) for movement generation in active tactile exploration behaviour. The CPG consists of two network levels: (i) phase-coupled Hopf oscillators for rhythm generation, and (ii) pattern formation networks for capturing the frequency and phase characteristics of individual joint oscillations. The model captured the natural, quasi-rhythmic joint kinematics as observed in coordinated antennal movements of walking stick insects. Moreover, it successfully produced tactile exploration behaviour on a three-dimensional skeletal model of the insect antennal system with physically realistic parameters. The effect of proprioceptor ablations could be simulated by changing the amplitude and offset parameters of the joint oscillators, only. As in the animal, the movement of both antennal joints was coupled with a stable phase difference, despite the quasi-rhythmicity of the joint angle time courses. We found that the phase-lead of the distal scape-pedicel joint relative to the proximal head-scape joint was essential for producing the natural tactile exploration behaviour and, thus, for tactile efficiency. For realistic movement patterns, the phase-lead could vary within a limited range of 10 to 30 degrees only. Tests with artificial movement patterns strongly suggest that this phase sensitivity is not a matter of the frequency composition of the natural movement pattern. Based on our modelling results, we propose that a constant phase difference is coded into the CPG of the antennal motor system and that proprioceptors are acting locally to regulate the joint movement amplitude.
Publishing Year
ISSN
Financial disclosure
Article Processing Charge funded by the Deutsche Forschungsgemeinschaft and the Open Access Publication Fund of Bielefeld University.
PUB-ID

Cite this

Harischandra N, Krause AF, Dürr V. Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect. Frontiers in Computational Neuroscience. 2015;9: 107.
Harischandra, N., Krause, A. F., & Dürr, V. (2015). Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect. Frontiers in Computational Neuroscience, 9: 107.
Harischandra, N., Krause, A. F., and Dürr, V. (2015). Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect. Frontiers in Computational Neuroscience 9:107.
Harischandra, N., Krause, A.F., & Dürr, V., 2015. Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect. Frontiers in Computational Neuroscience, 9: 107.
N. Harischandra, A.F. Krause, and V. Dürr, “Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect”, Frontiers in Computational Neuroscience, vol. 9, 2015, : 107.
Harischandra, N., Krause, A.F., Dürr, V.: Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect. Frontiers in Computational Neuroscience. 9, : 107 (2015).
Harischandra, Nalin, Krause, André Frank, and Dürr, Volker. “Stable phase-shift despite quasi-rhythmic movements: a CPG-driven dynamic model of active tactile exploration in an insect”. Frontiers in Computational Neuroscience 9 (2015): 107.
Main File(s)
Access Level
OA Open Access
Last Uploaded
2016-05-31T12:10:20Z

This data publication is cited in the following publications:
This publication cites the following data publications:

65 References

Data provided by Europe PubMed Central.

Active touch sensing.
Prescott TJ, Diamond ME, Wing AM., Philos. Trans. R. Soc. Lond., B, Biol. Sci. 366(1581), 2011
PMID: 21969680
Whisking with robots from rat vibrissae to biomimetic technology for active touch
Prescott T., Pearson M., Mitchinson B., Sullivan J., Pipe A.., 2009
Modelling spinal circuitry involved in locomotor pattern generation: insights from deletions during fictive locomotion.
Rybak IA, Shevtsova NA, Lafreniere-Roula M, McCrea DA., J. Physiol. (Lond.) 577(Pt 2), 2006
PMID: 17008376
Antennal reflexes in the desert locust Schistocerca gregaria
Saager F., Gewecke M.., 1989
Properties of the feedback system controlling the coxa-trochanter joint in the stick insect Carausius morosus
Schmitz J.., 1986
Active tactile exploration for adaptive locomotion in the stick insect.
Schutz C, Durr V., Philos. Trans. R. Soc. Lond., B, Biol. Sci. 366(1581), 2011
PMID: 21969681
Invertebrate central pattern generator circuits.
Selverston AI., Philos. Trans. R. Soc. Lond., B, Biol. Sci. 365(1551), 2010
PMID: 20603355
Antennal movements and mechanoreception: neurobiology of active tactile sensors
Staudacher E., Gebhardt M., Dürr V.., 2005
Reinforcement active learning in the vibrissae system: optimal object localization.
Gordon G, Dorfman N, Ahissar E., J. Physiol. Paris 107(1-2), 2013
PMID: 22789551
Comparative whole-body kinematics of closely related insect species with different body morphology.
Theunissen LM, Bekemeier HH, Durr V., J. Exp. Biol. 218(Pt 3), 2015
PMID: 25524984
Laufen und stehen der stabheuschrecke Carausius morosus: sinnesborstenfelder in den beingelenken als glieder von regelkreisen
Wendler G.., 1964
Co-contraction and passive forces facilitate load compensation of aimed limb movements.
Zakotnik J, Matheson T, Durr V., J. Neurosci. 26(19), 2006
PMID: 16687491
Whisking and whisker kinematics during a texture classification task.
Zuo Y, Perkon I, Diamond ME., Philos. Trans. R. Soc. Lond., B, Biol. Sci. 366(1581), 2011
PMID: 21969687

Export

0 Marked Publications

Open Data PUB

Web of Science

View record in Web of Science®

Sources

PMID: 26347644
PubMed | Europe PMC

Search this title in

Google Scholar