Models of central pattern generators for quadruped locomotion - II. Secondary gaits
UNSPECIFIED. (2001) Models of central pattern generators for quadruped locomotion - II. Secondary gaits. JOURNAL OF MATHEMATICAL BIOLOGY, 42 (4). pp. 327-346. ISSN 0303-6812Full text not available from this repository.
We continue the analysis of the network of symmetrically coupled cells modeling central pattern generators (CPG) for quadruped locomotion proposed by Golubitshy-Stewart, Buono and Collins by studying secondary gaits. Secondary gaits are modeled by output signals from the CPG where each cell emits one of two different output signals along with exact phase shifts. Examples of secondary gaits are transverse gallop, rotary gallop, and canter. We classify secondary gaits that bifurcate when the Poincare map of a primary gait has a real eigenvalue crossing the unit circle. in particular, we show that periodic solutions modeling transverse gallop and rotary gallop bifurcate from primary gaits. Moreover, we find gaits from period-doubling bifurcations and analyze plausible footfall patterns. Numerical simulations are performed using the Morris-Lecar equations as cell dynamics.
|Item Type:||Journal Article|
|Subjects:||Q Science > QH Natural history > QH301 Biology|
|Journal or Publication Title:||JOURNAL OF MATHEMATICAL BIOLOGY|
|Number of Pages:||20|
|Page Range:||pp. 327-346|
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