Adaptive control for insect leg position: controller properties depend on substrate compliance

Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology
Holk CruseJosef Schmitz

Abstract

This paper concentrates on the system that controls the femur-tibia joint in the legs of the stick insect, Carausius morosus. Earlier investigations have shown that this joint is subject to a mixture of proportional and differential control whereby the differential part plays a prominent role. Experiments presented here suggest another interpretation: single legs of a stick insect were systematically perturbed using devices of different compliance and compensatory forces and movements monitored. When the compliance is high (soft spring), forces are generated that return the leg close to its original position. When the compliance is low (stiff spring), larger forces are generated but sustained changes in position occur that are proportional to the force that is applied. Selective ablation of leg sense organs showed that the leg did not maintain its position after elimination of afferents of the femoral chordotonal organ. Ablation of leg campaniform sensilla had no effect. These data support the idea that different control strategies are used, depending upon substrate compliance. In particular, what we and other authors have called a differential controller, is now considered as an integral controller that "intelligently gives up...Continue Reading

References

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Jun 26, 1998·Brain Research. Brain Research Reviews·U Bässler, A Büschges
Jul 24, 1998·Proceedings. Biological Sciences·D P FerrisC T Farley
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Mar 29, 2003·Neural Networks : the Official Journal of the International Neural Network Society·Holk CruseJosef Schmitz
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Feb 1, 2002·Integrative and Comparative Biology·Bernd DiederichHolk Cruse

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Citations

May 31, 2006·Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology·Ram Gal, Frederic Libersat
Jul 22, 2008·Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology·Jérémy Lévy, Holk Cruse
Jul 5, 2013·Biological cybernetics·Malte SchillingHolk Cruse
Jul 17, 2007·PLoS Computational Biology·Poramate ManoonpongFlorentin Wörgötter
Jun 30, 2015·Bioinspiration & Biomimetics·Thomas BuschmannAnsgar Büschges
Jun 13, 2020·The Journal of Experimental Biology·Cinzia MetalloBarry A Trimmer
Sep 4, 2007·The Journal of Experimental Biology·Daniel M Dudek, Robert J Full
May 18, 2010·The Journal of Experimental Biology·Andrew J SpenceRobert J Full
Dec 30, 2008·The Journal of Experimental Biology·Matthias GruhnAnsgar Büschges

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