A distributed control model for the air-righting reflex of a cat.

Abstract:

:A multisegment, multijoint model of a falling animal is presented to examine the effectiveness of a two-stage control scheme in a zero-momentum self-righting maneuver. The model contains a much larger number of degrees of freedom than is required to execute a self-righting maneuver and is thus capable of providing multiple solutions for the same task. The decentralized control scheme is designed to achieve gross turning in minimum time and to maintain a steady orientation relative to gravity after the turn has been achieved. The scheme is able to determine the sequence of steps necessary to execute the motor task and also incorporates learning features. Results from various simulations are presented and their implications discussed.

journal_name

Biol Cybern

journal_title

Biological cybernetics

authors

Arabyan A,Tsai D

doi

10.1007/s004220050488

subject

Has Abstract

pub_date

1998-11-01 00:00:00

pages

393-401

issue

5

eissn

0340-1200

issn

1432-0770

journal_volume

79

pub_type

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