This study deals with a simple central pattern generator (CPG) algorithm created with a sinusoidal oscillator and several first-order low-pass filters to generate the swimming pattern of a lamprey, which is considered as the most primitive vertebrate. It is desired that the pattern generated with the Hopf sinusoidal oscillator would provide a phase delay proportional to the number of segments planned to be used when modeling the spinal cord of the living being, and the design of a structure in which these phase delays can be achieved with low-pass filter structures is emphasized.

Keywords - Central Pattern Generator, Lamprey, Hopf Oscillator, Phase Delay

Bu çalışma, en ilkel omurgalı canlılardan biri olan taşemen balığının yüzme deseninin oluşturulması amacıyla, bir sinüzoidal osilatör ve birkaç birinci dereceden alçak geçiren filtre ile oluşturulan basit bir merkezi desen üreteci (Central Pattern Generator-CPG) algoritmasını ele almaktadır. Hopf sinüzoidal osilatörü ile üretilen desenin, canlının omuriliği modellenirken kullanılması planlanan segment sayısı ile orantılı bir faz gecikmesi sağlaması arzu edilmiş ve bu faz gecikmelerinin alçak geçiren filtre yapıları ile elde edilebileceği bir yapının tasarımı üzerinde durulmuştur.

Keywords^Turkish - Merkezi Desen Üreteci, Taşemen balığı, Hopf Osilatörü, Faz gecikmesi

[1] F. Delcomyn, “Walking robots and the central and peripheral control of locomotion in insects,” Auton. Robots, vol. 7, no. 3, pp. 259–270, 1999.

[2] S. L. Hooper, “Central pattern generators,” Curr. Biol., vol. 10, no. 5, pp. R176–R179, 2000.

[3] S. Rossignol, “Locomotion and its recovery after spinal injury,” Curr. Opin. Neurobiol., vol. 10, no. 6, pp. 708–716, 2000.

[4] A. H. Cohen, P. H. Holmes, R. H. Rand, “The nature of the coupling between segmental oscillators of the lamprey spinal generator for locomotion: a mathematic model,” J. Math. Biol., vol. 13, pp. 345–369, 1982.

[5] K. Matsuoka, “Mechanisms of frequency and pattern control in the neural rhythms generators,” Biol. Cybern., vol. 56, pp. 345–353, 1987.

[6] Y. Fukuoka, H. Kimura, A. H. Cohen, “Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts,” Int. J. Rob. Res., vol. 22, no. 3–4, pp. 187–202, 2003.

[7] H. Kimura, Y. Fukuoka, K. Konaga, Y. Hada, K. Takase, “Towards 3D adaptive dynamic walking of a quadruped robot on irregular terrain by using neural system model,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), vol. , pp. 2312–2317, 2001.

[8] H. Kimura, Y. Fukuoka, A. H. Cohen, “Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts,” Int. J. Rob. Res., vol. 26, no. 5, pp. 475–490, 2007.

[9] G. Taga, Y. Yamaguchi, H. Shimizu, “Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment,” Biol. Cybern., vol. 65, pp. 147–159, 1991.

[10] P. Arena, L. Fortuna, M. Frasca, “Multi-template approach to realize central pattern generators for artificial locomotion control,” Int. J. Circuit Theory Appl., vol. 30, no. 4, pp. 441–458, 2002.

[11] S. Inagaki, H. Yuasa, T. Arai, “CPG model for autonomous decentralized multi-legged robot system generation and transition of oscillation patterns and dynamics of oscillators,” Robot. Auton. Syst., vol. 44, pp. 171–179, 2003.

[12] A. J. Ijspeert, A. Crespi, D. Ryczko, J. M. Cabelguen, “From swimming to walking with a salamander robot driven by a spinal cord model,” Science, vol. 315, no. 5817, pp. 1416–1420, 2007.

[13] W. Chen, G. Ren, J. Zhang, J. Wang, “Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm,” J. Intell. Robotic Syst., vol. 67, no. 3, pp. 255–270, 2012.

[14] N. Korkmaz, “A Digital Emulator Design for the Swimming Rhythmic Pattern Generator of a Lamprey,” IEEE Access, vol. 12, pp. 43849–43861, 2024.

[15] S. Grillner, P. Wallén, “How does the lamprey central nervous system make the lamprey swim?,” J. Experim. Biol., vol. 112, no. 1, pp. 337–357, 1984.

[16] S. Grillner, P. Wallén, N. Dale, L. Brodin, J. Buchanan, R. Hill, “Transmitters, membrane properties and network circuitry in the control of locomotion in lamprey,” Trends Neurosci., vol. 10, no. 1, pp. 34–41, 1987.

[17] J. T. Buchanan, “Neural network simulations of coupled locomotor oscillators in the lamprey spinal cord,” Biol. Cybern., vol. 66, no. 4, pp. 367–374, 1992.

[18] J. T. Buchanan, “Contributions of identifiable neurons and neuron classes to lamprey vertebrate neurobiology,” Prog. Neurobiol., vol. 63, no. 4, pp. 441–466, 2001.