Sensory feedback and control of leg-substrate interactions in insects and robots

Sensory feedback plays an important role in adaptive control of insect leg movements as required, for example, in agile locomotion over irregular terrain. Functionally, insect legs are not just effectors--they are also sophisticated sensory devices that provide the nervous system with a great deal of information about the dynamic state of the leg and interactions with its environment. Most previous research on the neural control of multilegged locomotion has focused on the problem of pattern generation, namely on how to produce appropriately phased patterns of bursting activity in leg motor neurons so as to generate stable walking gaits. Fixed pattern generation alone, however, is not sufficient to achieve agile locomotion over irregular terrain.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Neuroscience

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2011

Author dc:creator

• Ding, Zhimin

Contributors dc:contributor

• Nelson, Mark E.
• Ahuja, Narendra
• Malpeli, Joseph G.
• Wheeler, Bruce C.
• Delcomyn, Fred

• Biology, Neuroscience
• Engineering, Electronics and Electrical
• Artificial Intelligence
• Computer Science

Statement dc:rights

• Copyright 1996 Ding, Zhimin

Language dc:language

eng

Identifier

9780591197976
AAI9712257
(UMI)AAI9712257

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/18952