Raghavendra P. Kukillaya

Learn More
We develop a simple model for insect locomotion in the horizontal (ground) plane. As in earlier work by Seipel et al. (Biol Cybern 91(0):76–90, 2004) we employ six actuated legs that also contain passive springs, but the legs, with “hip” and ‘knee’ joints, better represent insect morphology. Actuation is provided via preferred angle inputs at each joint,(More)
We describe a hierarchy of models for legged locomotion, emphasizing relationships among feedforward (preflexive) stability, maneuverability, and reflexive feedback. We focus on a hexapedal geometry representative of insect locomotion in the ground plane that includes a neural central pattern generator circuit, nonlinear muscles, and a representative(More)
We develop a neuromechanical model for running insects that includes a simplified hexapedal leg geometry with agonist-antagonist muscle pairs actuating each leg joint. Restricting to dynamics in the horizontal plane and neglecting leg masses, we reduce the model to three degrees of freedom describing translational and yawing motions of the body. Muscles are(More)
In earlier work, we have developed an integrated model for insect locomotion that includes a central pattern generator (CPG), nonlinear muscles, hexapedal geometry and a representative proprioceptive sensory pathway. Here, we employ phase reduction and averaging theory to replace 264 ordinary differential equations (ODEs), describing bursting neurons in the(More)
References l.html#ref-list-1 http://rsta.royalsocietypublishing.org/content/368/1930/5087.ful This article cites 38 articles, 13 of which can be accessed free Rapid response 1930/5087 http://rsta.royalsocietypublishing.org/letters/submit/roypta;368/ Respond to this article Subject collections (247 articles) applied mathematics • (70 articles) differential(More)
  • 1