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There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
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I will describe several models for running insects, from an energy-conserving biped, through a muscle-actuated hexapod driven by a neural central pattern generator, to a reduced phase-oscillator model that captures the dynamics of unperturbed gaits and of impulsive perturbations. I will argue that both simple models and large simulations are necessary to understand biological systems. The models show that piecewise-holonomic constraints due to intermittent foot contacts confer asymptotic stability on the feedforward system, while leg force sensors modulate motor outputs to mitigate large perturbations. Phase response curves and coupling functions help explain reflexive feedback mechanisms. The talk will draw on joint work with Einat Fuchs, Robert Full, Raffaele Ghigliazza, Raghu Kukillaya, Josh Proctor, John Schmitt, and Justin Seipel. Research supported by NSF and the J. Insley Blair Pyne Fund of Princeton University.
