Disorder and Homeostasis in ANIBOT. A Biologically-Inspired Animal Robot
by Kevin Castillo, Madeline Parker, Nathan Reyes, Antonio Palacios, Erin C. McGee, Patrick Longhini, Horacio Lopez, and Kevin Vo
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The effects of external perturbations (or disorder) in the Hopf bifurcations of a central pattern generator (CPG) network of neurons that serves as a model for the circuit realization of ANIBOT--a biologically-inspired animal robot with four legs--are studied, analytically and computationally, from the standpoint of homeostasis. Recent developments in the mathematical description of homeostasis, are employed to explore the CPG response to perturbations of the network connectivity, the internal dynamics of the neurons, and electronic noise. The results show that except for the Walk and Jump gaits, the phase dynamics of all other gaits (Walk, Jump, Trot, Bound, Pace, and Pronk) exhibit perfect homeostatic responses.
Homeostasis in Animal Gaits
