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Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis : I. Slow running
TLDR
The average firing frequencies of slow depressor coxa (Ds) and slow extensor tibia (SETi) motor neurons are directly proportional to the average angular velocity of their joints during stance, and the average Ds and SETi firing frequency appears to be modulated on a cycle-by-cycle basis to control running speed and orientation. Expand
Design and simulation of a cockroach-like hexapod robot
TLDR
The design and simulation of a cockroach-like hexapod robot which is under construction for the purpose of testing control principles which are being extracted from the cockroach are described. Expand
Insect Walking and Biorobotics: A Relationship with Mutual Benefits
TLDR
Load-compe nsating reactions in the proximal leg joints of stick insects during standing and walking duringStanding and walking. Expand
Control of climbing behavior in the cockroach, Blaberus discoidalis. II. Motor activities associated with joint movement
TLDR
Examination of electromyogram activity produced by the slow trochanteral extensor and slow tibial extensor motor neurons as deathhead cockroaches climbed over obstacles of two different heights suggested that reflex adjustments were made. Expand
Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis: II. Fast running
TLDR
Kinematic and electromyogram analysis of running Blaberus discoidalis to examine how middle and hind leg kinematics vary with running speed and how the fast depressor coxa (Df) and fast extensor tibia (FETi) motor neurons affect kinematic parameters finds FETi is associated with greater FT extension at higher running speeds and may be necessary to overcome high joint torques at extended FT joint angles. Expand
Control of obstacle climbing in the cockroach, Blaberus discoidalis. I. Kinematics
TLDR
The structure of proximal leg joints allows for flexibility in leg use by generating subtle, but effective changes in the direction of leg movement, which provides a range of strategies for both animals and walking machines. Expand
Dual pathways for tactile sensory information to thoracic interneurons in the cockroach.
TLDR
The biphasic response of TIAs to tactile stimulation is caused by two separate conducting pathways from the point of stimulation to the thoracic ganglia, suggesting that the relevant sensory structures send axons in nerve 7 and abdominal nerves of anterior abdominal ganglia. Expand
Combined intracellular stimulation and high speed video motion analysis of motor control neurons in the cockroach
TLDR
A technique is described for combining high speed video motion analysis of leg movements in the cockroach with electrophysiological techniques such as intracellular stimulation/recording from central neurons and EMG recording from leg muscles. Expand