Effects of muscle dynamics and proprioceptive feedback on the kinematics and CPG activity of salamander stepping
© Knuesel and Ijspeert; licensee BioMed Central Ltd. 2011
Published: 18 July 2011
The model suggests that salamanders can modulate their intersegmental coordination by modulating the stiffness of their trunk musculature. Salamanders are known to stiffen their trunk during walking. In the model, such a stiffening leads to a shift in the kinematics away from the traveling wave pattern of swimming, towards the standing wave pattern of the walking trot. With local proprioceptive feedback, this shift can be reflected in the CPG.
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