TAILIEUCHUNG - Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) Part 3

Tham khảo tài liệu 'adaptive motion of animals and machines - hiroshi kimura et al (eds) part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Purposive Locomotion of Insects in an Indefinite Environment 33 that the properties of the elements of the system and the relationship of them are not specified in advance. If the control system is definite it is impossible to adapt to the unpredictably changing environment. Higher centers Since the decision-making mechanism is far complicated and not clarified sufficiently yet it is assumed that the instruction of behavior is generated in the higher center of cerebrum. So the higher center of cerebrum can be regarded as the highest constraint generator for motor control. The organized program and instructions in the higher center are the sequence of the purposive direction and the velocity. Although the detail of the mechanism of the higher center is not clarified yet some physiological experiments indicate that the higher center can be considered as coordinating organ between the purposive movement and posture control. There are parallel pathways from the brain stems to the motoneurons one of which is directly pathway to motoneurons and the other is the descending to the thoracic ganglion known as the CPG. The former might be thought to adjust the muscle tone to maintain its posture and the latter to contribute the coordination of the muscle movements to attain the purposive behavior. To coordinate the functions between the higher center and the thoracic ganglion neurotmodulators play profound effects on the organization of the behavioral states by switching a neural network from one operating mode to another. The walking patterns are quickly changed depending on the walking velocities and load 1-6 . In the case of stick insect at high speed the front leg and the hind move simultaneously and the middle antiphasic to the others forming a tripod to support their body. On the contrary when they walk slowly the three legs of each side move metachronally. A pair of legs of the same segment step alternately. As increasing the walking velocity the insect changes the

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