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Analysis of a distributed model of leg coordination

9 years 10 months ago
Analysis of a distributed model of leg coordination
Using tools from discrete dynamical systems theory, we begin a systematic analysis of a distributed model of leg coordination with both biological and robotic applications. In this paper, we clarify the role of individual coordination mechanisms by studying a system of two leg oscillators coupled in one direction by each of the three major mechanisms that have been described for the stick insect Carausius morosus. For each mechanism, we derive analytical return maps, and analyze the behavior of these return maps under iteration in order to determine the asymptotic phase relationship between the two legs. We also derive asymptotic relative phase densities for each mechanism and compare these densities to those obtained from numerical simulations of the model. Our analysis demonstrates that, although each of these mechanisms can individually compress a range of initial conditions into a narrow band of relative phase, this asymptotic relative phase relationship is, in general, only neutra...
Alan Calvitti, Randall D. Beer
Added 17 Dec 2010
Updated 17 Dec 2010
Type Journal
Year 2000
Where BC
Authors Alan Calvitti, Randall D. Beer
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