A model for insect locomotion in the horizontal plane: feedforward activation of fast muscles, stability, and robustness.

@article{Kukillaya2009AMF,
  title={A model for insect locomotion in the horizontal plane: feedforward activation of fast muscles, stability, and robustness.},
  author={Raghavendra P. Kukillaya and P. Holmes},
  journal={Journal of theoretical biology},
  year={2009},
  volume={261 2},
  pages={210-26}
}
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 driven by stylized action potentials characteristic of fast motoneurons, and modeled using an activation function and nonlinear length and… CONTINUE READING
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