Ijspeert Auke Jan, Crespi Alessandro, Ryczko Dimitri, Cabelguen Jean-Marie
School of Computer and Communication Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Station 14, CH-1015 Lausanne, Switzerland.
Science. 2007 Mar 9;315(5817):1416-20. doi: 10.1126/science.1138353.
The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can be extended by phylogenetically more recent limb oscillatory centers to explain the ability of salamanders to switch between swimming and walking. The model suggests neural mechanisms for modulation of velocity, direction, and type of gait that are relevant for all tetrapods. It predicts that limb oscillatory centers have lower intrinsic frequencies than body oscillatory centers, and we present biological data supporting this.
从水生到陆生运动的转变是脊椎动物进化中的一个关键发展。我们提出了一种脊髓模型及其在两栖蝾螈机器人中的实现，该模型展示了用于游泳的原始神经回路如何通过系统发育上更新的肢体振荡中心得到扩展，以解释蝾螈在游泳和行走之间切换的能力。该模型提出了与所有四足动物相关的速度、方向和步态类型调制的神经机制。它预测肢体振荡中心的固有频率低于身体振荡中心，并且我们提供了支持这一点的生物学数据。
