{"id":{"repo_id":"ohiolink","oai_identifier":"oai:etd.ohiolink.edu:case1354648661"},"canonical_url":"https://search.dev.ndltd.org/etd/ohiolink/oai:etd.ohiolink.edu:case1354648661","repository":{"repo_id":"ohiolink","name":"OhioLINK","base_url":"https://etd.ohiolink.edu/acprod/odb_etd/ws/oai/oai"},"display":{"title":"MASSIVELY DISTRIBUTED NEUROMORPHIC CONTROL FOR LEGGED ROBOTS MODELED AFTER INSECT STEPPING","abstract":"Simulated RObot exhibiting behAvior CHanges (SimROACH) is a massively distributed control architecture for legged robots composed of simulated physiological neuron and synapse models. Its structure is based on insect neurobiology. Each joint uses a unique central pattern generator (CPG) to produce oscillation. The CPGs in each leg cannot directly communicate, but are coordinated by sensory influences, producing stepping motion. One CPG from each leg receives input from the same CPG in other legs, coordinating walking motion. The pathways that coordinate CPGs or legs can be modified by descending commands to change the way the joints flex or legs step with respect to one another, smoothly changing gait while in motion. SimROACH walks and changes gait in a simulated physics environment. SimROACH’s middle leg network was further verified by successfully controlling a single robotic leg attached to a test stand.","abstract_html":"Simulated RObot exhibiting behAvior CHanges (SimROACH) is a massively distributed control architecture for legged robots composed of simulated physiological neuron and synapse models. Its structure is based on insect neurobiology. Each joint uses a unique central pattern generator (CPG) to produce oscillation. The CPGs in each leg cannot directly communicate, but are coordinated by sensory influences, producing stepping motion. One CPG from each leg receives input from the same CPG in other legs, coordinating walking motion. The pathways that coordinate CPGs or legs can be modified by descending commands to change the way the joints flex or legs step with respect to one another, smoothly changing gait while in motion. SimROACH walks and changes gait in a simulated physics environment. SimROACH’s middle leg network was further verified by successfully controlling a single robotic leg attached to a test stand.","abstract_has_math":false,"creators":["Szczecinski, Nicholas S."],"institution":"Case Western Reserve University School of Graduate Studies","degree_name":"Master of Sciences (Engineering)","degree_level":"masters","degree_discipline":"EMC - Mechanical Engineering","degree_department":null,"school":null,"contributors":["Quinn, Roger"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-03-12","date_published":"2013-03-12","updated_at":"2026-07-24T03:35:52Z","subjects":["Biology","Engineering","Mechanical Engineering","Neurobiology","Robotics","Walking robots","computational neuroscience","robotic behavior","gaits"],"languages":["English"],"rights":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. 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The pathways that coordinate CPGs or legs can be modified by descending commands to change the way the joints flex or legs step with respect to one another, smoothly changing gait while in motion. SimROACH walks and changes gait in a simulated physics environment. SimROACH’s middle leg network was further verified by successfully controlling a single robotic leg attached to a test stand."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf","p.121","6.91 MB"]},{"key":"dc:title","label":"Title","values":["MASSIVELY DISTRIBUTED NEUROMORPHIC CONTROL FOR LEGGED ROBOTS MODELED AFTER INSECT STEPPING"]}]}],"canonical_facts":{"dc:contributor":["Quinn, Roger"],"dc:creator":["Szczecinski, Nicholas S."],"dc:date":["2013-03-12"],"dc:description":["Simulated RObot exhibiting behAvior CHanges (SimROACH) is a massively distributed control architecture for legged robots composed of simulated physiological neuron and synapse models. Its structure is based on insect neurobiology. Each joint uses a unique central pattern generator (CPG) to produce oscillation. The CPGs in each leg cannot directly communicate, but are coordinated by sensory influences, producing stepping motion. One CPG from each leg receives input from the same CPG in other legs, coordinating walking motion. The pathways that coordinate CPGs or legs can be modified by descending commands to change the way the joints flex or legs step with respect to one another, smoothly changing gait while in motion. SimROACH walks and changes gait in a simulated physics environment. 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