Sensorimotor functions and stability structures in emergent hindlimbs locomotion of decerebrate cats

Sensorimotor functions and stability structures in emergent hindlimbs locomotion of decerebrate cats | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Sensorimotor functions and stability structures in emergent hindlimbs locomotion of decerebrate cats Hiroshi Kimura, Christophe Maufroy This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6643511/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This study aims to reduce the complexity of machine design, motion planning, control, and advanced adaptation to the environment in quadrupedal locomotion by using the emergent behavior observed in animals. We investigate the underlying principles for the emergence of quadrupedal locomotion in terms of structure, stability, and fluctuations by simulating generation and transition of the rhythm and gait observed in decerebrate cats. In this work, we show that the principles are clarified and expanded compared to those in our previous work by incorporating a single lift-off timing determination condition into the rhythm-generating part of the controller. In belt-driven locomotion on a treadmill using the spinal cat model, the sensorimotor functions of each leg autonomously generate locomotion patterns in response to belt speed while ceasing to coordinate with the contralateral leg. In self-propulsive locomotion on the floor using the midbrain cat model, the transition after the destabilization and critical fluctuations is observed in potential functions in response to increased locomotion power, and a single trigger function for coordination induces the stabilization. In both types of locomotion, the rolling motion perturbed by increasing speed initiates a transition from out-of-phase to in-phase running. Subsequently, the new lift-off condition causes a change of the stability structure and stabilizes the transitional gait afterward, either spontaneously or explicitly via the trigger. As a result, such principles become clearer that trunk oscillations inducing the rhythm and gait, being stabilized through the gait transition, sustain rhythmic motion. This perspective could help reduce the complexity inherent in quadrupedal locomotion. Robotics Emergence Rhythm and gait Sensorimotor function Self-excited oscillation Leg load spatiotemporal pattern Structural change in dynamics Full Text Additional Declarations The authors declare no competing interests. Supplementary Files OnlineResource1.pdf OnlineResource2.mp4 Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6643511","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":455138277,"identity":"aa51ce4a-5265-4cd3-9fba-48f04caf4a35","order_by":0,"name":"Hiroshi 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