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Journal articles on the topic 'CPG (Central pattern generator)'

Author: Grafiati

Published: 4 June 2021

Last updated: 14 February 2022

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1

Schöneich, Stefan, and Berthold Hedwig. "Feedforward discharges couple the singing central pattern generator and ventilation central pattern generator in the cricket abdominal central nervous system." Journal of Comparative Physiology A 205, no. 6 (2019): 881–95. http://dx.doi.org/10.1007/s00359-019-01377-7.

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Abstract We investigated the central nervous coordination between singing motor activity and abdominal ventilatory pumping in crickets. Fictive singing, with sensory feedback removed, was elicited by eserine-microinjection into the brain, and the motor activity underlying singing and abdominal ventilation was recorded with extracellular electrodes. During singing, expiratory abdominal muscle activity is tightly phase coupled to the chirping pattern. Occasional temporary desynchronization of the two motor patterns indicate discrete central pattern generator (CPG) networks that can operate indep

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Cramer, Nathan P., and Asaf Keller. "Cortical Control of a Whisking Central Pattern Generator." Journal of Neurophysiology 96, no. 1 (2006): 209–17. http://dx.doi.org/10.1152/jn.00071.2006.

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Whether the motor cortex regulates voluntary movements by generating the motor pattern directly or by acting through subcortical central pattern generators (CPGs) remains a central question in motor control. Using the rat whisker system, an important model system of mammalian motor control, we develop an anesthetized preparation to investigate the interaction between the motor cortex and a whisking CPG. Using this model we investigate the involvement of a serotonergic component of the whisking CPG in determining whisking kinematics and the mechanisms through which drive from the CPG is convert

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ZHANG, DINGGUO, and KUANYI ZHU. "COMPUTER SIMULATION STUDY ON CENTRAL PATTERN GENERATOR: FROM BIOLOGY TO ENGINEERING." International Journal of Neural Systems 16, no. 06 (2006): 405–22. http://dx.doi.org/10.1142/s0129065706000810.

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Central pattern generator (CPG) is a neuronal circuit in the nervous system that can generate oscillatory patterns for the rhythmic movements. Its simplified format, neural oscillator, is wildly adopted in engineering application. This paper explores the CPG from an integral view that combines biology and engineering together. Biological CPG and simplified CPG are both studied. Computer simulation reveals the mechanism of CPG. Some properties, such as effect of tonic input and sensory feedback, stable oscillation, robustness, entrainment etc., are further studied. The promising results provide

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Selverston, Allen I. "Invertebrate central pattern generator circuits." Philosophical Transactions of the Royal Society B: Biological Sciences 365, no. 1551 (2010): 2329–45. http://dx.doi.org/10.1098/rstb.2009.0270.

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There are now a reasonable number of invertebrate central pattern generator (CPG) circuits described in sufficient detail that a mechanistic explanation of how they work is possible. These small circuits represent the best-understood neural circuits with which to investigate how cell-to-cell synaptic connections and individual channel conductances combine to generate rhythmic and patterned output. In this review, some of the main lessons that have appeared from this analysis are discussed and concrete examples of circuits ranging from single phase to multiple phase patterns are described. Whil

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Straub, Volko A., Kevin Staras, György Kemenes, and Paul R. Benjamin. "Endogenous and Network Properties of LymnaeaFeeding Central Pattern Generator Interneurons." Journal of Neurophysiology 88, no. 4 (2002): 1569–83. http://dx.doi.org/10.1152/jn.2002.88.4.1569.

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Understanding central pattern generator (CPG) circuits requires a detailed knowledge of the intrinsic cellular properties of the constituent neurons. These properties are poorly understood in most CPGs because of the complexity resulting from interactions with other neurons of the circuit. This is also the case in the feeding network of the snail, Lymnaea, one of the best-characterized CPG networks. We addressed this problem by isolating the interneurons comprising the feeding CPG in cell culture, which enabled us to study their basic intrinsic electrical and pharmacological cellular propertie

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White, Olivier, Yannick Bleyenheuft, Renaud Ronsse, Allan M. Smith, Jean-Louis Thonnard, and Philippe Lefèvre. "Altered Gravity Highlights Central Pattern Generator Mechanisms." Journal of Neurophysiology 100, no. 5 (2008): 2819–24. http://dx.doi.org/10.1152/jn.90436.2008.

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In many nonprimate species, rhythmic patterns of activity such as locomotion or respiration are generated by neural networks at the spinal level. These neural networks are called central pattern generators (CPGs). Under normal gravitational conditions, the energy efficiency and the robustness of human rhythmic movements are due to the ability of CPGs to drive the system at a pace close to its resonant frequency. This property can be compared with oscillators running at resonant frequency, for which the energy is optimally exchanged with the environment. However, the ability of the CPG to adapt

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DiCaprio, Ralph A. "Gating of Afferent Input by a Central Pattern Generator." Journal of Neurophysiology 81, no. 2 (1999): 950–53. http://dx.doi.org/10.1152/jn.1999.81.2.950.

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Gating of afferent input by a central pattern generator. Intracellular recordings from the sole proprioceptor (the oval organ) in the crab ventilatory system show that the nonspiking afferent fibers from this organ receive a cyclic hyperpolarizing inhibition in phase with the ventilatory motor pattern. Although depolarizing and hyperpolarizing current pulses injected into a single afferent will reset the ventilatory motor pattern, the inhibitory input is of sufficient magnitude to block afferent input to the ventilatory central pattern generator (CPG) for ∼50% of the cycle period. It is propos

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Golowasch, Jorge. "Neuromodulation of central pattern generators and its role in the functional recovery of central pattern generator activity." Journal of Neurophysiology 122, no. 1 (2019): 300–315. http://dx.doi.org/10.1152/jn.00784.2018.

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Neuromodulators play an important role in how the nervous system organizes activity that results in behavior. Disruption of the normal patterns of neuromodulatory release or production is known to be related to the onset of severe pathologies such as Parkinson’s disease, Rett syndrome, Alzheimer’s disease, and affective disorders. Some of these pathologies involve neuronal structures that are called central pattern generators (CPGs), which are involved in the production of rhythmic activities throughout the nervous system. Here I discuss the interplay between CPGs and neuromodulatory activity,

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ZHANG, DINGGUO, XIANGYANG ZHU, LI LAN, and KUANYI ZHU. "MATHEMATICAL STUDY ON IONIC MECHANISM OF LAMPREY CENTRAL PATTERN GENERATOR MODEL." International Journal of Neural Systems 19, no. 06 (2009): 409–24. http://dx.doi.org/10.1142/s0129065709002117.

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This paper studies the mechanisms of ionic channels in neurons of lamprey central pattern generator (CPG), such as the N-methyl-D-aspartate (NMDA) receptor channel and the calcium-dependent potassium channel etc. The CPG properties on oscillation attributed to the ionic mechanisms are exploited. The conditions for oscillation, divergence, convergence and the guidelines on selection of the parameters are established. The effects of key parameters on CPG frequency and duty cycle are investigated. Mathematical analysis and simulation study is performed to verify these results. This study will pot

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Zhang, Dingguo, Qing Zhang, and Xiangyang Zhu. "Exploring a Type of Central Pattern Generator Based on Hindmarsh–Rose Model: From Theory to Application." International Journal of Neural Systems 25, no. 01 (2015): 1450028. http://dx.doi.org/10.1142/s0129065714500282.

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This paper proposes the idea that Hindmarsh–Rose (HR) neuronal model can be used to develop a new type of central pattern generator (CPG). Some key properties of HR model are studied and proved to meet the requirements of CPG. Pros and cons of HR model are provided. A CPG network based on HR model is developed and the related properties are investigated. We explore the bipedal primary gaits generated by the CPG network. The preliminary applications of HR model are tested on humanoid locomotion model and functional electrical stimulation (FES) walking system. The positive results of stimulation

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Arshavsky, Y. I., T. G. Deliagina, I. L. Okshtein, G. N. Orlovsky, Y. V. Panchin, and L. B. Popova. "Defense reaction in the pond snail Planorbis corneus. II. Central pattern generator." Journal of Neurophysiology 71, no. 3 (1994): 891–97. http://dx.doi.org/10.1152/jn.1994.71.3.891.

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1. In the isolated CNS of the pond snail Planorbis corneus, spontaneous bursts of activity in the motor neurons (MNs) supplying the columellar muscle were occasionally observed. The biphasic pattern of this activity, with a shorter (3-5 s) initial burst and longer (20-40 s) subsequent burst, was similar to that of the motor output during the general ("whole-body") defense reaction. In preparations consisting of the CNS isolated with the columellar muscle or with the lung, spontaneous biphasic contractions of the muscle as well as openings of the pneumostome with a temporal pattern characterist

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M.T., Aju. "Modeling and Simulation of Hexapod Kinematics with Central Pattern Generator." IAES International Journal of Robotics and Automation (IJRA) 5, no. 2 (2016): 72. http://dx.doi.org/10.11591/ijra.v5i2.pp72-86.

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<span>The revealed secrets of nature always led humans to their aspiring achievements. The fastest animal on land is Cheetah and similar robot has developed by engineers so far to attain a record speed of 20mph among legged robots. But in nature there are some insects those are far ahead of cheetah in speed with a unit of body length per second. Insects are small in their body size with legs usually countable from 4 to 12 or more. With more legs they can have more stability and can adapt to different terrain faster while walking. Six legged robot (hexapod) is generally expect to attain h

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Han, Qing, Feixiang Cao, Peng Yi, and Tiancheng Li. "Motion Control of a Gecko-like Robot Based on a Central Pattern Generator." Sensors 21, no. 18 (2021): 6045. http://dx.doi.org/10.3390/s21186045.

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To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.

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Lu, Qiang, Zhaochen Zhang, and Wenfeng Li. "Parameter Optimization Of CPG And Its Application In Robot." MATEC Web of Conferences 232 (2018): 03018. http://dx.doi.org/10.1051/matecconf/201823203018.

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The central pattern generator (CPG) has been identified in the spinal cords as responsible for locomotion movements. It is difficult to select the appropriate values of parameters in CPG model. In this paper, the Matsuoka oscillator is selected as the rhythm-generation model and the bat algorithm is chosen to search the parameters of CPG model. The paper shows the details of the parameters optimization and the diagram of the convergence performance. In the paper, the CPG includes the main rhythm-generation neuron and the minor pattern-formation neuron, and Rowat's neural model is chosen as the

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Quinlan, E. M., and A. D. Murphy. "Plasticity in the multifunctional buccal central pattern generator of Helisoma illuminated by the identification of phase 3 interneurons." Journal of Neurophysiology 75, no. 2 (1996): 561–74. http://dx.doi.org/10.1152/jn.1996.75.2.561.

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1. The mechanism for generating diverse patterns of buccal motor neuron activity was explored in the multifunctional central pattern generator (CPG) of Helisoma. The standard pattern of motor neuron activity, which results in typical feeding behavior, consists of three distinct phases of buccal motor neuron activity. We have previously identified CPG interneurons that control the motor neuron activity during phases 1 and 2 of the standard pattern. Here we identify a pair of interneurons responsible for buccal motor neuron activity during phase 3, and examine the variability in the interactions

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Endo, Toshiaki, and Ole Kiehn. "Asymmetric Operation of the Locomotor Central Pattern Generator in the Neonatal Mouse Spinal Cord." Journal of Neurophysiology 100, no. 6 (2008): 3043–54. http://dx.doi.org/10.1152/jn.90729.2008.

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The rhythmic voltage oscillations in motor neurons (MNs) during locomotor movements reflect the operation of the pre-MN central pattern generator (CPG) network. Recordings from MNs can thus be used as a method to deduct the organization of CPGs. Here, we use continuous conductance measurements and decomposition methods to quantitatively assess the weighting and phase tuning of synaptic inputs to different flexor and extensor MNs during locomotor-like activity in the isolated neonatal mice lumbar spinal cord preparation. Whole cell recordings were obtained from 22 flexor and 18 extensor MNs in

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Roffman, Rebecca C., Brian J. Norris, and Ronald L. Calabrese. "Animal-to-animal variability of connection strength in the leech heartbeat central pattern generator." Journal of Neurophysiology 107, no. 6 (2012): 1681–93. http://dx.doi.org/10.1152/jn.00903.2011.

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The heartbeat central pattern generator (CPG) in medicinal leeches controls blood flow within a closed circulatory by programming the constrictions of two parallel heart tubes. This circuit reliably produces a stereotyped fictive pattern of activity and has been extensively characterized. Here we determined, as quantitatively as possible, the strength of each inhibitory synapse and electrical junction within the core circuit of the heartbeat CPG. We also examined the animal-to-animal variability in strengths of these connections and, for some, determined the correlations between connections to

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Katz, Paul S., Akira Sakurai, Stefan Clemens, and Deron Davis. "Cycle Period of a Network Oscillator Is Independent of Membrane Potential and Spiking Activity in Individual Central Pattern Generator Neurons." Journal of Neurophysiology 92, no. 3 (2004): 1904–17. http://dx.doi.org/10.1152/jn.00864.2003.

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Rhythmic motor patterns are thought to arise through the cellular properties and synaptic interactions of neurons in central pattern generator (CPG) circuits. Yet, when examining the CPG underlying the rhythmic escape response of the opisthobranch mollusc, Tritonia diomedea, we found that the cycle period of the fictive swim motor pattern recorded from the isolated nervous system was not altered by changing the resting membrane potential or the level of spiking activity of any of the 3 known CPG cell types: ventral swim interneuron-B (VSI-B), the dorsal swim interneurons (DSIs), and cerebral n

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Brierley, M. J., M. S. Yeoman, and P. R. Benjamin. "Glutamatergic N2v Cells Are Central Pattern Generator Interneurons of the Lymnaea Feeding System: New Model for Rhythm Generation." Journal of Neurophysiology 78, no. 6 (1997): 3396–407. http://dx.doi.org/10.1152/jn.1997.78.6.3396.

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Brierley, M. J., M. S. Yeoman, and P. R. Benjamin. Glutamatergic N2v cells are central pattern generator interneurons of the Lymnaea feeding system: new model for rhythm generation. J. Neurophysiol. 78: 3396–3407, 1997. We aimed to show that the paired N2v (N2 ventral) plateauing cells of the buccal ganglia are important central pattern generator (CPG) interneurons of the Lymnaea feeding system. N2v plateauing is phase-locked to the rest of the CPG network in a slow oscillator (SO)-driven fictive feeding rhythm. The phase of the rhythm is reset by artificially evoked N2v bursts, a characterist

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Vovka, Andrea, Paul W. Davenport, Karen Wheeler-Hegland, Kendall F. Morris, Christine M. Sapienza, and Donald C. Bolser. "Swallow Pattern Generator Reconfiguration of the Respiratory Neural Network." Perspectives on Swallowing and Swallowing Disorders (Dysphagia) 18, no. 1 (2009): 3–12. http://dx.doi.org/10.1044/sasd18.1.3.

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Abstract When the nasal and oral passages converge and a bolus enters the pharynx, it is critical that breathing and swallow motor patterns become integrated to allow safe passage of the bolus through the pharynx. Breathing patterns must be reconfigured to inhibit inspiration, and upper airway muscle activity must be recruited and reconfigured to close the glottis and laryngeal vestibule, invert the epiglottis, and ultimately protect the lower airways. Failure to close and protect the glottal opening to the lower airways, or loss of the integration and coordination of swallow and breathing, in

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Blitz, Dawn M. "Circuit feedback increases activity level of a circuit input through interactions with intrinsic properties." Journal of Neurophysiology 118, no. 2 (2017): 949–63. http://dx.doi.org/10.1152/jn.00772.2016.

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Feedback from central pattern generator (CPG) circuits patterns activity of their projection neuron inputs. However, whether the intraburst firing rate between rhythmic feedback inhibition is also impacted by CPG feedback was not known. I establish that CPG feedback can alter the projection neuron intraburst firing rate through interactions with projection neuron intrinsic properties. The contribution of feedback to projection neuron activity level is specific to the modulatory condition, demonstrating a state dependence for this novel role of circuit feedback.

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Stein, Paul S. G. "Central pattern generators in the turtle spinal cord: selection among the forms of motor behaviors." Journal of Neurophysiology 119, no. 2 (2018): 422–40. http://dx.doi.org/10.1152/jn.00602.2017.

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Neuronal networks in the turtle spinal cord have considerable computational complexity even in the absence of connections with supraspinal structures. These networks contain central pattern generators (CPGs) for each of several behaviors, including three forms of scratch, two forms of swim, and one form of flexion reflex. Each behavior is activated by a specific set of cutaneous or electrical stimuli. The process of selection among behaviors within the spinal cord has multisecond memories of specific motor patterns. Some spinal cord interneurons are partially shared among several CPGs, whereas

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ARENA, PAOLO, LUIGI FORTUNA, MATTIA FRASCA, and LUCA PATANÉ. "SENSORY FEEDBACK IN CNN-BASED CENTRAL PATTERN GENERATORS." International Journal of Neural Systems 13, no. 06 (2003): 469–78. http://dx.doi.org/10.1142/s0129065703001698.

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Central Pattern Generators (CPGs) are a suitable paradigm to solve the problem of locomotion control in walking robots. CPGs are able to generate feed-forward signals to achieve a proper coordination among the robot legs. In literature they are often modelled as networks of coupled nonlinear systems. However the topic of feedback in these systems is rarely addressed. On the other hand feedback is essential for locomotion. In this paper the CPG for a hexapod robot is implemented through Cellular Neural Networks (CNNs). Feedback is included in the CPG controller by exploiting the dynamic propert

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Klarner, Taryn, and E. Paul Zehr. "Sherlock Holmes and the curious case of the human locomotor central pattern generator." Journal of Neurophysiology 120, no. 1 (2018): 53–77. http://dx.doi.org/10.1152/jn.00554.2017.

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Evidence first described in reduced animal models over 100 years ago led to deductions about the control of locomotion through spinal locomotor central pattern-generating (CPG) networks. These discoveries in nature were contemporaneous with another form of deductive reasoning found in popular culture, that of Arthur Conan Doyle’s detective, Sherlock Holmes. Because the invasive methods used in reduced nonhuman animal preparations are not amenable to study in humans, we are left instead with deducing from other measures and observations. Using the deductive reasoning approach of Sherlock Holmes

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Sobinov, Anton, and Sergiy Yakovenko. "Model of a bilateral Brown-type central pattern generator for symmetric and asymmetric locomotion." Journal of Neurophysiology 119, no. 3 (2018): 1071–83. http://dx.doi.org/10.1152/jn.00443.2017.

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The coordinated activity of muscles is produced in part by spinal rhythmogenic neural circuits, termed central pattern generators (CPGs). A classical CPG model is a system of coupled oscillators that transform locomotor drive into coordinated and gait-specific patterns of muscle recruitment. The network properties of this conceptual model can be simulated by a system of ordinary differential equations with a physiologically inspired coupling locus of interactions capturing the timing relationship for bilateral coordination of limbs in locomotion. Whereas most similar models are solved numerica

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Hadi Azahar, Arman, Chong Shin Horng, Anuar Mohamed Kassim, et al. "Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA)." International Journal of Engineering & Technology 7, no. 2.14 (2018): 160. http://dx.doi.org/10.14419/ijet.v7i2.14.12817.

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This paper presents the optimization process of Central Pattern Generator (CPG) controller for one legged hopping robot by using Genetic Algorithm (GA). To control the one legged hopping robot, a CPG controller is designed and integrated with a conventional Proportional-Integral (PI) controller. Conventionally, the CPG parameters are tuned manually. But by using this method, the parameters produced are not exactly the optimum parameters for the CPG. Therefore, a computational stochastic optimization method; GA is designed to optimize the CPG controller parameters. The GA is designed based on m

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Ausborn, Jessica, Abigail C. Snyder, Natalia A. Shevtsova, Ilya A. Rybak, and Jonathan E. Rubin. "State-dependent rhythmogenesis and frequency control in a half-center locomotor CPG." Journal of Neurophysiology 119, no. 1 (2018): 96–117. http://dx.doi.org/10.1152/jn.00550.2017.

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The spinal locomotor central pattern generator (CPG) generates rhythmic activity with alternating flexion and extension phases. This rhythmic pattern is likely to result from inhibitory interactions between neural populations representing flexor and extensor half-centers. However, it is unclear whether the flexor-extensor CPG has a quasi-symmetric organization with both half-centers critically involved in rhythm generation, features an asymmetric organization with flexor-driven rhythmogenesis, or comprises a pair of intrinsically rhythmic half-centers. There are experimental data that support

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Marschik, Peter B., Walter E. Kaufmann, Sven Bölte, Jeff Sigafoos, and Christa Einspieler. "En route to disentangle the impact and neurobiological substrates of early vocalizations: Learning from Rett syndrome." Behavioral and Brain Sciences 37, no. 6 (2014): 562–63. http://dx.doi.org/10.1017/s0140525x1300410x.

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AbstractResearch on acoustic communication and its underlying neurobiological substrates has led to new insights about the functioning of central pattern generators (CPGs). CPG-related atypicalities may point to brainstem irregularities rather than cortical malfunctions for early vocalizations/babbling. The “vocal pattern generator,” together with other CPGs, seems to have great potential in disentangling neurodevelopmental disorders and potentially predict neurological development.

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PINTO, CARLA M. A., and J. A. TENREIRO MACHADO. "COMPLEX ORDER BIPED RHYTHMS." International Journal of Bifurcation and Chaos 21, no. 10 (2011): 3053–61. http://dx.doi.org/10.1142/s0218127411030362.

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Animal locomotion is a complex process, involving the central pattern generators (neural networks, located in the spinal cord, that produce rhythmic patterns), the brainstem command systems, the steering and posture control systems and the top layer structures that decide which motor primitive is activated at a given time. Pinto and Golubitsky studied an integer CPG model for legs rhythms in bipeds. It is a four-coupled identical oscillators' network with dihedral symmetry. This paper considers a new complex order central pattern generator (CPG) model for locomotion in bipeds. A complex deriva

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Nakada, Kazuki, Tetsuya Asai, and Yoshihito Amemiya. "Biologically-Inspired Locomotion Controller for a Quadruped Walking Robot: Analog IC Implementation of a CPG-Based Controller." Journal of Robotics and Mechatronics 16, no. 4 (2004): 397–403. http://dx.doi.org/10.20965/jrm.2004.p0397.

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The present paper proposes analog integrated circuit (IC) implementation of a biologically inspired controller in quadruped robot locomotion. Our controller is based on the central pattern generator (CPG), which is known as the biological neural network that generates fundamental rhythmic movements in locomotion of animals. Many CPG-based controllers for robot locomotion have been proposed, but have mostly been implemented in software on digital microprocessors. Such a digital processor operates accurately, but it can only process sequentially. Thus, increasing the degree of freedom of physica

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Liu, Guang Lei, Maki K. Habib, Keigo Watanabe, and Kiyotaka Izumi. "The Design of Central Pattern Generators Based on the Matsuoka Oscillator to Generate Rhythmic Human-Like Movement for Biped Robots." Journal of Advanced Computational Intelligence and Intelligent Informatics 11, no. 8 (2007): 946–55. http://dx.doi.org/10.20965/jaciii.2007.p0946.

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We propose a controller based on a central pattern generator (CPG) network of mutually coupled Matsuoka nonlinear neural oscillators to generate rhythmic human-like movement for biped robots. The parameters of mutually inhibited and coupled Matsuoka oscillators and the necessary interconnection coupling coefficients within the CPG network directly influence the generation of the required rhythmic signals related to targeted motion. Our objective is to analyze the mutually coupled neuron models of Matsuoka oscillators to realize an efficient CPG design that leads to have dynamic, stable, sustai

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Norris, Brian J., Adam L. Weaver, Angela Wenning, Paul S. García, and Ronald L. Calabrese. "A Central Pattern Generator Producing Alternative Outputs: Phase Relations of Leech Heart Motor Neurons With Respect to Premotor Synaptic Input." Journal of Neurophysiology 98, no. 5 (2007): 2983–91. http://dx.doi.org/10.1152/jn.00407.2007.

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The central pattern generator (CPG) for heartbeat in leeches consists of seven identified pairs of segmental heart interneurons and one unidentified pair. Four of the identified pairs and the unidentified pair of interneurons make inhibitory synaptic connections with segmental heart motor neurons. The CPG produces a side-to-side asymmetric pattern of intersegmental coordination among ipsilateral premotor interneurons corresponding to a similarly asymmetric fictive motor pattern in heart motor neurons, and asymmetric constriction pattern of the two tubular hearts: synchronous and peristaltic. U

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Grillner, Sten, and Alexander Kozlov. "The CPGs for Limbed Locomotion–Facts and Fiction." International Journal of Molecular Sciences 22, no. 11 (2021): 5882. http://dx.doi.org/10.3390/ijms22115882.

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The neuronal networks that generate locomotion are well understood in swimming animals such as the lamprey, zebrafish and tadpole. The networks controlling locomotion in tetrapods remain, however, still enigmatic with an intricate motor pattern required for the control of the entire limb during the support, lift off, and flexion phase, and most demandingly when the limb makes contact with ground again. It is clear that the inhibition that occurs between bursts in each step cycle is produced by V2b and V1 interneurons, and that a deletion of these interneurons leads to synchronous flexor–extens

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Moore, Christopher A., Anne Smith, and Robert L. Ringel. "Task-Specific Organization of Activity in Human Jaw Muscles." Journal of Speech, Language, and Hearing Research 31, no. 4 (1988): 670–80. http://dx.doi.org/10.1044/jshr.3104.670.

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Coordination of jaw muscle activity for speech production sometimes has been modeled using nonspeech behaviors. This orientation has been especially true in representations of mandibular movement in which the synergy of jaw muscles for speech production has been suggested to be derived from the central pattern generator (CPG) for chewing. The present investigation compared the coordination of EMG activity in mandibular muscles over a range of speech and nonspeech tasks. Results of a cross-correlational analysis between EMG signals demonstrated that the muscle synergies of the mandibular system

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Shahbazi, Hamed, Kamal Jamshidi, and Amir Hasan Monadjemi. "Curvilinear Bipedal Walk Learning in Nao Humanoid Robot Using a CPG Based Policy Gradient Method." Applied Mechanics and Materials 110-116 (October 2011): 5161–66. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.5161.

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In this paper we will introduce a new learning approach for curvilinear bipedal walking of Nao humanoid robot using policy gradient method. A policy of walking is modeled by some policy parameters controlling some factors in programmable central pattern generators. A “Programmable” central pattern generator is made with coupled nonlinear oscillators capable to shape their state equations with some training trajectories. The proposed model has many benefits including smooth walking patterns, and modulation during walking to increase or decrease its speed. A suitable curvilinear walk was achieve

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Lu, Qiang, and Juan Tian. "Research on Walking Gait of Biped Robot Based on a Modified CPG Model." Mathematical Problems in Engineering 2015 (2015): 1–9. http://dx.doi.org/10.1155/2015/793208.

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The neurophysiological studies of animals locomotion have verified that the fundamental rhythmic movements of animals are generated by the central pattern generator (CPG). Many CPG models have been proposed by scientific researchers. In this paper, a modified CPG model whose output function issin(x)is presented. The paper proves that the modified model has stable periodic solution and characteristics of the rhythmic movement using the Lyapunov judgement theorem and the phase diagram. A modified locomotion model is established in which the credit-assignment cerebellar model articulation control

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Owaki, Dai, Takeshi Kano, Ko Nagasawa, Atsushi Tero, and Akio Ishiguro. "Simple robot suggests physical interlimb communication is essential for quadruped walking." Journal of The Royal Society Interface 10, no. 78 (2013): 20120669. http://dx.doi.org/10.1098/rsif.2012.0669.

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Quadrupeds have versatile gait patterns, depending on the locomotion speed, environmental conditions and animal species. These locomotor patterns are generated via the coordination between limbs and are partly controlled by an intraspinal neural network called the central pattern generator (CPG). Although this forms the basis for current control paradigms of interlimb coordination, the mechanism responsible for interlimb coordination remains elusive. By using a minimalistic approach, we have developed a simple-structured quadruped robot, with the help of which we propose an unconventional CPG

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Siniscalchi, Michael J., Elizabeth C. Cropper, Jian Jing, and Klaudiusz R. Weiss. "Repetition priming of motor activity mediated by a central pattern generator: the importance of extrinsic vs. intrinsic program initiators." Journal of Neurophysiology 116, no. 4 (2016): 1821–30. http://dx.doi.org/10.1152/jn.00365.2016.

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Repetition priming is characterized by increased performance as a behavior is repeated. Although this phenomenon is ubiquitous, mediating mechanisms are poorly understood. We address this issue in a model system, the feeding network of Aplysia. This network generates both ingestive and egestive motor programs. Previous data suggest a chemical coding model: ingestive and egestive inputs to the feeding central pattern generator (CPG) release different modulators, which act via different second messengers to prime motor activity in different ways. The ingestive input to the CPG (neuron CBI-2) rel

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Takubo, Tomohito, Yohei Fukano, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai. "Feasibility Check of an Assist System Through the Simulation of Bipedal Walking Using a CPG." Journal of Robotics and Mechatronics 24, no. 4 (2012): 657–65. http://dx.doi.org/10.20965/jrm.2012.p0657.

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A wearable mobile-base Walking Assist System (WAS) is simulated in this paper with the bipedal simulator we developed. The simulator employs a Central Pattern Generator (CPG) for bipedal walking pattern generation. The CPG-based walking pattern is one of the candidates for simulating human walking. Average Japanese body dimension data is applied to the bipedal model so that walking efficiency can be evaluated using the simulator. The effectiveness of the proposed simulator is confirmed by comparing real human walking and simulated walking in terms of the shape of the swing leg trajectory, data

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Sakurai, Akira, and Paul S. Katz. "The central pattern generator underlying swimming in Dendronotus iris: a simple half-center network oscillator with a twist." Journal of Neurophysiology 116, no. 4 (2016): 1728–42. http://dx.doi.org/10.1152/jn.00150.2016.

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The nudibranch mollusc, Dendronotus iris, swims by rhythmically flexing its body from left to right. We identified a bilaterally represented interneuron, Si3, that provides strong excitatory drive to the previously identified Si2, forming a half-center oscillator, which functions as the central pattern generator (CPG) underlying swimming. As with Si2, Si3 inhibited its contralateral counterpart and exhibited rhythmic bursts in left-right alternation during the swim motor pattern. Si3 burst almost synchronously with the contralateral Si2 and was coactive with the efferent impulse activity in th

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Tytell, Eric D., and Avis H. Cohen. "Rostral Versus Caudal Differences in Mechanical Entrainment of the Lamprey Central Pattern Generator for Locomotion." Journal of Neurophysiology 99, no. 5 (2008): 2408–19. http://dx.doi.org/10.1152/jn.01085.2007.

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In fishes, undulatory swimming is produced by sets of spinal interneurons constituting a central pattern generator (CPG). The CPG generates waves of muscle activity that travel from head to tail, which then bend the body into wave shapes that also travel from head to tail. In many fishes, the wavelengths of the neural and mechanical waves are different, resulting in a rostral-to-caudal gradient in phase lag between muscle activity and bending. The neural basis of this phase gradient was investigated in the lamprey spinal cord using an isolated in vitro preparation. Fictive swimming was induced

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Zornik, Erik, Abraham W. Katzen, Heather J. Rhodes, and Ayako Yamaguchi. "NMDAR-Dependent Control of Call Duration in Xenopus laevis." Journal of Neurophysiology 103, no. 6 (2010): 3501–15. http://dx.doi.org/10.1152/jn.00155.2010.

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Many rhythmic behaviors, such as locomotion and vocalization, involve temporally dynamic patterns. How does the brain generate temporal complexity? Here, we use the vocal central pattern generator (CPG) of Xenopus laevis to address this question. Isolated brains can elicit fictive vocalizations, allowing us to study the CPG in vitro. The X. laevis advertisement call is temporally modulated; calls consist of rhythmic click trills that alternate between fast (∼60 Hz) and slow (∼30 Hz) rates. We investigated the role of two CPG nuclei—the laryngeal motor nucleus (n.IX–X) and the dorsal tegmental

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MacKay-Lyons, Marilyn. "Central Pattern Generation of Locomotion: A Review of the Evidence." Physical Therapy 82, no. 1 (2002): 69–83. http://dx.doi.org/10.1093/ptj/82.1.69.

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Abstract Neural networks in the spinal cord, referred to as “central pattern generators” (CPGs), are capable of producing rhythmic movements, such as swimming, walking, and hopping, even when isolated from the brain and sensory inputs. This article reviews the evidence for CPGs governing locomotion and addresses other factors, including supraspinal, sensory, and neuromodulatory influences, that interact with CPGs to shape the final motor output. Supraspinal inputs play a major role not only in initiating locomotion but also in adapting the locomotor pattern to environmental and motivational co

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Bhatti, Zeeshan. "Oscillator driven central pattern generator (CPG) system for procedural animation of quadruped locomotion." Multimedia Tools and Applications 78, no. 21 (2019): 30485–502. http://dx.doi.org/10.1007/s11042-019-7641-1.

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Xie, Fengran, Yong Zhong, Ruxu Du, and Zheng Li. "Central Pattern Generator (CPG) Control of a Biomimetic Robot Fish for Multimodal Swimming." Journal of Bionic Engineering 16, no. 2 (2019): 222–34. http://dx.doi.org/10.1007/s42235-019-0019-2.

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Stiesberg, Gregory R., Marcelo Bussotti Reyes, Pablo Varona, Reynaldo D. Pinto, and Ramón Huerta. "Connection Topology Selection in Central Pattern Generators by Maximizing the Gain of Information." Neural Computation 19, no. 4 (2007): 974–93. http://dx.doi.org/10.1162/neco.2007.19.4.974.

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A study of a general central pattern generator (CPG) is carried out by means of a measure of the gain of information between the number of available topology configurations and the output rhythmic activity. The neurons of the CPG are chaotic Hindmarsh-Rose models that cooperate dynamically to generate either chaotic or regular spatiotemporal patterns. These model neurons are implemented by computer simulations and electronic circuits. Out of a random pool of input configurations, a small subset of them maximizes the gain of information. Two important characteristics of this subset are emphasiz

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Rossignol, S., G. Barrière, O. Alluin, and A. Frigon. "Re-expression of Locomotor Function After Partial Spinal Cord Injury." Physiology 24, no. 2 (2009): 127–39. http://dx.doi.org/10.1152/physiol.00042.2008.

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After a complete spinal section, quadruped mammals (cats, rats, and mice) can generally regain hindlimb locomotion on a treadmill because the spinal cord below the lesion can express locomotion through a neural circuitry termed the central pattern generator (CPG). In this review, we propose that the spinal CPG also plays a crucial role in the locomotor recovery after incomplete spinal cord injury.

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Fukuoka, Yasuhiro, and Junki Akama. "Dynamic bipedal walking of a dinosaur-like robot with an extant vertebrate's nervous system." Robotica 32, no. 6 (2013): 851–65. http://dx.doi.org/10.1017/s0263574713001045.

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SUMMARYIn this study, we attempt to develop a biped dinosaur-like walking robot by focusing on its nervous system as well as its mechanism. We developed a robot ‘Dinobot’ on the basis of palaeontological knowledge on dinosaurs and extant animals. In addition, we employed typical biologically inspired walking gait generation and control methods derived from an extant vertebrate's nervous system. In particular, we utilized a central pattern generator (CPG), which is a locomotion rhythm generator in a vertebrate's spinal cord, to generate the robot's walking rhythm. Moreover, a reflex centre was

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Yamaguchi, Ayako, David Gooler, Amy Herrold, Shailja Patel, and Winnie W. Pong. "Temperature-Dependent Regulation of Vocal Pattern Generator." Journal of Neurophysiology 100, no. 6 (2008): 3134–43. http://dx.doi.org/10.1152/jn.01309.2007.

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Vocalizations of Xenopus laevis are generated by central pattern generators (CPGs). The advertisement call of male X. laevis is a complex biphasic motor rhythm consisting of fast and slow trills (a train of clicks). We found that the trill rate of these advertisement calls is sensitive to temperature and that this rate modification of the vocal rhythms originates in the central pattern generators. In vivo the rates of fast and slow trills increased linearly with an increase in temperature. In vitro a similar linear relation between temperature and compound action potential frequency in the lar

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Tapia, Jesus A., Argelia Reid, John Reid, Saul M. Dominguez-Nicolas, and Elias Manjarrez. "Modeling Post-Scratching Locomotion with Two Rhythm Generators and a Shared Pattern Formation." Biology 10, no. 7 (2021): 663. http://dx.doi.org/10.3390/biology10070663.

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This study aimed to present a model of post-scratching locomotion with two intermixed central pattern generator (CPG) networks, one for scratching and another for locomotion. We hypothesized that the rhythm generator layers for each CPG are different, with the condition that both CPGs share their supraspinal circuits and their motor outputs at the level of their pattern formation networks. We show that the model reproduces the post-scratching locomotion latency of 6.2 ± 3.5 s, and the mean cycle durations for scratching and post-scratching locomotion of 0.3 ± 0.09 s and 1.7 ± 0.6 s, respective

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