Description

ed and inspired scientists, engineers and philosophers since the time of Descartes. It has been argued that a thorough understanding of neuro-mechanical systems that underlie movement generation and control can be achieved only by using computational modeling in parallel with physiological investigations. In this talk, I will introduce modeling approaches for understanding neural control mechanisms behind animal motor control, especially rhythmic movements during locomotion in quadrupeds, and antennal searching in insects. We use both the topdown and bottom-up approaches in an interdisciplinary environment. The neural controllers are proposed by exploiting the properties of central pattern generators (CPGs), localized biological neural circuits responsible for generating stereotypical movements without rhythmic input. However, the activity of the CPG is constantly modulated by sensory inputs in order to generate adaptive movements depending on the varying environmental conditions. I will present couple of case studies where we use different animal models ranging from higher-vertebrates (Cat) to lower-vertebrates (Lamprey, Salamander) to invertebrates (Stick insect, Cricket). Depending on the study, we have developed CPGs at different abstraction levels. Our computational framework will shed new light on the available neuro-physiological data related to joint coordination. For roboticists, the identified control