Malte Schilling, Autonomous Intelligent Systems Group, University of Münster, Münster, Germany.
Biological Cybernetics, Faculty of Biology, Bielefeld University, Bielefeld, Germany.
PLoS Comput Biol. 2023 Jan 24;19(1):e1010136. doi: 10.1371/journal.pcbi.1010136. eCollection 2023 Jan.
Decentralized control has been established as a key control principle in insect walking and has been successfully leveraged to account for a wide range of walking behaviors in the proposed neuroWalknet architecture. This controller allows for walking patterns at different velocities in both, forward and backward direction-quite similar to the behavior shown in stick insects-, for negotiation of curves, and for robustly dealing with various disturbances. While these simulations focus on the cooperation of different, decentrally controlled legs, here we consider a set of biological experiments not yet been tested by neuroWalknet, that focus on the function of the individual leg and are context dependent. These intraleg studies deal with four groups of interjoint reflexes. The reflexes are elicited by stimulation of the femoral chordotonal organ (fCO) or groups of campaniform sensilla (CS). Motor output signals are recorded from the alpha-joint, the beta-joint or the gamma-joint of the leg. Furthermore, the influence of these sensory inputs to artificially induced oscillations by application of pilocarpine has been studied. Although these biological data represent results obtained from different local reflexes in different contexts, they fit with and are embedded into the behavior shown by the global structure of neuroWalknet. In particular, a specific and intensively studied behavior, active reaction, has since long been assumed to represent a separate behavioral element, from which it is not clear why it occurs in some situations, but not in others. This question could now be explained as an emergent property of the holistic structure of neuroWalknet which has shown to be able to produce artificially elicited pilocarpine-driven oscillation that can be controlled by sensory input without the need of explicit innate CPG structures. As the simulation data result from a holistic system, further results were obtained that could be used as predictions to be tested in further biological experiments.
分散控制已被确立为昆虫行走的关键控制原则，并已成功地利用神经 Walknet 架构来解释各种行走行为。该控制器允许在正向和反向以不同的速度行走模式-与竹节虫的行为非常相似-用于曲线的协商，以及对各种干扰的稳健处理。虽然这些模拟集中在不同的、分散控制的腿的协作上，但这里我们考虑了一组尚未通过神经 Walknet 测试的生物实验，这些实验集中在腿的单个关节的功能上，并且是上下文相关的。这些关节内研究涉及四组关节间反射。反射由刺激股索状感觉器官（fCO）或一组 campaniform 感觉器（CS）引起。从腿的 alpha 关节、beta 关节或 gamma 关节记录运动输出信号。此外，还研究了这些感觉输入对应用毛果芸香碱引起的人工振荡的影响。尽管这些生物数据代表了不同背景下不同局部反射获得的结果，但它们与神经 Walknet 的整体结构所表现出的行为相吻合，并嵌入其中。特别是，一种特定的、经过深入研究的行为-主动反应，长期以来一直被认为是一种单独的行为元素，不清楚为什么它会在某些情况下出现，而在其他情况下不会出现。这个问题现在可以解释为神经 Walknet 的整体结构的一个涌现属性，它已经表明能够产生人工诱发的 pilocarpine 驱动的振荡，可以通过感觉输入进行控制，而不需要明确的固有 CPG 结构。由于模拟数据来自整体系统，因此获得了可以用作进一步生物实验的预测的其他结果。
