Please use this identifier to cite or link to this item: https://doi.org/10.3233/BME-130839
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dc.titleA 3D undulatory locomotion system inspired by nematode C. Elegans
dc.contributor.authorDeng, X.
dc.contributor.authorXu, J.-X.
dc.date.accessioned2014-10-07T04:39:57Z
dc.date.available2014-10-07T04:39:57Z
dc.date.issued2014
dc.identifier.citationDeng, X., Xu, J.-X. (2014). A 3D undulatory locomotion system inspired by nematode C. Elegans. Bio-Medical Materials and Engineering 24 (1) : 529-537. ScholarBank@NUS Repository. https://doi.org/10.3233/BME-130839
dc.identifier.issn09592989
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/83324
dc.description.abstractThis paper provides an undulatory locomotion model inspired by C. elegans, whose nervous system and muscular structure are well studied. C. elegans is divided into 11 muscle segments according to its anatomical structure, and represented as a multi-joint rigid link model in this work. In each muscle segment, there are four pieces of muscles located in four quadrants. The muscles change their lengths according to the outputs of nervous system. In this work, the dynamic neural networks (DNN) are adopted to represent the nervous system. The DNN are divided into the head DNN and the body DNN. The head DNN produces the sinusoid waves to generate the forward and backward undulatory movements. The body DNN with 11 segments is responsible for passing the sinusoid wave and creating the phase lag. The 3D locomotion of this system are implemented by using the DNN to control the muscle lengths, and then using the muscle lengths to control the angles between two consecutive links on both horizontal and vertical planes. The test results show good performances of this model in both forward and backward locomotion in 3D, which could serve as a prototype of the micro-robot for clinical use. © 2014 - IOS Press and the authors. All rights reserved.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.3233/BME-130839
dc.sourceScopus
dc.subject3D
dc.subjectC. elegans
dc.subjectdynamic neural networks
dc.subjectlocomotion
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.3233/BME-130839
dc.description.sourcetitleBio-Medical Materials and Engineering
dc.description.volume24
dc.description.issue1
dc.description.page529-537
dc.description.codenBMENE
dc.identifier.isiut000327312600062
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