Complex order biped rhythms

• Author(s): Pinto, Carla M. A. ; Machado, J. A. Tenreiro
• Date: 2011
• Persistent ID: http://hdl.handle.net/10400.22/4147
• Origin: Repositório Científico do Instituto Politécnico do Porto
• Subject(s): Bipedal locomotion; Complex order fractional derivative; Symmetry
• Document Type: Article
• Language: English

Description

Animal locomotion is a complex process, involving the central pattern generators (neural networks, located in the spinal cord, that produce rhythmic patterns), the brainstem command systems, the steering and posture control systems and the top layer structures that decide which motor primitive is activated at a given time. Pinto and Golubitsky studied an integer CPG model for legs rhythms in bipeds. It is a four-coupled identical oscillators' network with dihedral symmetry. This paper considers a new complex order central pattern generator (CPG) model for locomotion in bipeds. A complex derivative Dα±jβ, with α, β ∈ ℜ+, j = √-1, is a generalization of the concept of an integer derivative, where α = 1, β = 0. Parameter regions where periodic solutions, identified with legs' rhythms in bipeds, occur, are analyzed. Also observed is the variation of the amplitude and period of periodic solutions with the complex order derivative.