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SUMMARY:Neuromechanical models of locomotion: from biology to robotics - A
 uke Ijspeert\, Biorobotics Laboratory\, Ecole Polytechnique Fédérale de 
 Lausanne
DTSTART:20180201T140000Z
DTEND:20180201T150000Z
UID:TALK97495@talks.cam.ac.uk
CONTACT:Alberto Padoan
DESCRIPTION:The ability to efficiently move in complex environments is a f
 undamental property both for animals and for robots\, and the problem of l
 ocomotion and movement control is an area in which neuroscience and roboti
 cs can fruitfully interact. Animal locomotion control is in a large part b
 ased on spinal cord circuits that combine reflex loops and central pattern
  generators (CPGs)\, i.e. neural networks capable of producing complex rhy
 thmic or discrete patterns while being activated and modulated by relative
 ly simple control signals. These networks are located in the spinal cord f
 or vertebrate animals and interact with the musculoskeletal system to prov
 ide "motor primitives" for higher parts of the brain\, i.e. building block
 s of motor control that can be activated and combined to generate rich mov
 ements. In this talk\, I will present how we model the spinal cord circuit
 s of lower vertebrates (lamprey and salamander) using systems of coupled o
 scillators\, and how we test these models on board of amphibious robots. T
 he models and robots were instrumental in testing some novel hypotheses co
 ncerning the mechanisms of gait transition\, sensory feedback integration\
 , and generation of rich motor skills in vertebrate animals. I will also d
 iscuss how the models can be extended to control biped locomotion and lowe
 r-limb exoskeletons.
LOCATION:Cambridge University Engineering Department\, Lecture Room number
  LR12
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