Building a computer simulator for the study of stepping of the cat
2007 (English)Report (Other academic)
We have developed a 3-dimensional computer simulator for investigation on the neuro-musculo-skeletal system and its interactions during normal walking of the cat. Main components of the cat model are the simulation of skeletal dynamics and the control system that includes a mathematical muscle model and a central pattern generator (CPG) network. The simulator is programmed in Python scripting language with other supported open source libraries such as Open Dynamics Engine (ODE) for body dynamics and Opengl for 3-D graphical representation. Modular structure and the object oriented programming technique allows easy access to the model parameters and the modules can be easily modified without altering the entire program. To test the model’s functionality, a simple experiment, during which the cat was set to walk on a flat surface with only the hind legs’ muscles were controlled by two separate CPGs with no sensory feed back, was carried out. It was possible to obtain a realistic stepping in the hind legs even without sensory feedback to the two controllers for each leg. We conclude that the mechanical linkages between the legs also play a major role in producing alternating gait.
Place, publisher, year, edition, pages
, TRITA-CSC-CB, 2007:01
Computer simulation, locomotion, central pattern generator, body dynamics, sensory feedback, muscle model
IdentifiersURN: urn:nbn:se:kth:diva-26061OAI: oai:DiVA.org:kth-26061DiVA: diva2:369620
QC 201011112010-11-112010-11-112011-11-10Bibliographically approved