脊髓中枢模式发生器的动力学建模和四足步态调控OA

Central Pattern Generators(CPGs)in the spinal cord serve as the neural control centers for rhythmic limb movements in mammals and are crucial for understanding the mechanisms of motor control.However,the organizational structure of spinal cord neural circuits and the specific mechanisms by which they regulate rhyth-mic limb movements remain poorly understood.This paper systematically reviews biological experimental find-ings and advances in computational modeling related to spinal CPGs in quadruped animals.By integrating physi-ological experimental data,it constructs spinal CPG model featuring an asymmetric cervical-lumbar spine lay-out.This model simulates and implements biologically accurate quadruped gait patterns under the combined reg-ulation of spinal drive,specific ion current,and sensory feedback.The results provide new insights into the mechanisms of central rhythmic motion control in the spinal cord and offer guidance for further biological experi-ments related to quadrupedal motion.Additionally,these findings hold significant value for developing gait con-trol strategies for bionic quadrupedal and bipedal robots.Finally,this paper identifies current challenges faced by this research field and discusses future research directions.