Ruprecht-Karls-Universität Heidelberg
Optimization in Robotics and Biomechanics

Parameter estimation in proprioceptive models of a walking cat

Kathrin Hatz, Katja Mombaur - IWR

Max Donelan - Simon Fraser University, Vanvouver, Canada

The goal of this project is to improve the understanding of neuromechanical and muscular processes in a walking cat. In particular, we are interested in the relative importance of feed forward and feedback pathways to ankle extensor activity during walking in the conscious cat. Therefore, we derive a mathematical model describing muscle activity in the cat's ankle extensor. Afterwards, optimization techniques are used to determine the contribution of feed forward and feedback signals to the overall muscle activity from EMG measurements. Our results lead to new and interesting insights that highlight the importance of feedback signals in slope and level walking.


K. Mombaur,
Last Update: 19.10.2011 - 16:03

The photographs in the header of this webpage have been taken at the Musee de l'Automate in Souillac, France