caa a22 4500 463245393 CHVBK 20180405153324.0 cr unu---uuuuu 170326e20070301xx s 000 0 eng 10.1007/s00422-006-0117-1 doi (NATIONALLICENCE)springer-10.1007/s00422-006-0117-1 Hexapod Walking: an expansion to Walknet dealing with leg amputations and force oscillations [Elektronische Daten] [Malte Schilling, Holk Cruse, Paolo Arena] The control of the legs of a walking hexapod is a complex problem as the legs have three joints each, resulting in a total of 18 degrees of freedom. We addressed this problem using a decentralized architecture termed Walknet, which consists of peripheral pattern generators being coordinated through influences acting mainly between neighbouring legs. Both, the coordinating influences and the local control modules (each acting only on one leg), are biologically inspired. This investigation shows that it is possible to adapt this approach to account for additional biological data by (1) changing the structure of the selector net in a biological plausible way (including force as an analog variable), (2) introducing a biologically motivated coordination influence for coactivation between legs and (3) adding a hypothetical influence between hind and front legs. This network of controllers has been tested using a dynamic simulation. It is able to describe (a) the behaviour of animals walking with one or two legs being amputated and (b) force oscillations that occur in a specific experimental situation, the standing legs of a walking animal. Springer-Verlag, 2006 Schilling Malte Department of Biological Cybernetics and Theoretical Biology, University of Bielefeld, P.O. Box 100131, 33501, Bielefeld, Germany aut Cruse Holk Department of Biological Cybernetics and Theoretical Biology, University of Bielefeld, P.O. Box 100131, 33501, Bielefeld, Germany aut Arena Paolo Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universita degli Studi di Catania, Viale A. Doria 6, 95125, Catania, Italy aut Biological Cybernetics Springer-Verlag 96/3(2007-03-01), 323-340 0340-1200 96:3<323 2007 96 422 https://doi.org/10.1007/s00422-006-0117-1 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s00422-006-0117-1 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Schilling Malte Department of Biological Cybernetics and Theoretical Biology, University of Bielefeld, P.O. Box 100131, 33501, Bielefeld, Germany aut NATIONALLICENCE 700 1- Cruse Holk Department of Biological Cybernetics and Theoretical Biology, University of Bielefeld, P.O. Box 100131, 33501, Bielefeld, Germany aut NATIONALLICENCE 700 1- Arena Paolo Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Universita degli Studi di Catania, Viale A. Doria 6, 95125, Catania, Italy aut NATIONALLICENCE 773 0- Biological Cybernetics Springer-Verlag 96/3(2007-03-01), 323-340 0340-1200 96:3<323 2007 96 422 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer