https://doi.org/10.1140/epjs/s11734-025-01782-x
Regular Article
Synchrony transition of delayed 3-HR motif to design the CPG-based gait for hexapod robot
1
School of Aerospace Engineering and Applied Mechanics, Tongji University, 200092, Shanghai, China
2
Department of Disaster Mitigation for Structures, Tongji University, 200092, Shanghai, China
3
Shanghai Institute of Aircraft Mechanics and Control, 100 Zhangwu Road, Yangpu District, 200092, Shanghai, China
Received:
20
March
2025
Accepted:
27
June
2025
Published online:
12
July
2025
In this study, we introduce time delay into three Hindmarsh-Rose (HR) neuron models to construct a delayed 3-HR motif with mutual inhibition. By employing numerical methods such as phase-lag and its probability distribution, we explore how time delay induces diverse synchrony patterns in the motif and triggers transitions between them. Furthermore, based on the regulatory mechanism of time delay, we coupled two 3-HR motifs with identical features and successfully replicated the central pattern generator (CPG) rhythmic patterns required for hexapod robot locomotion gait. Our greater goal is to uncover the regulatory principles of pattern formation in complex neural networks. To this end, we propose starting with the mechanisms of rhythm generation in smaller network motifs and gradually extending the study to complex networks. The 3-HR motif serves as a flexible and efficient building block, capable of generating diverse rhythmic patterns for the entire CPG neural circuit.
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© The Author(s), under exclusive licence to EDP Sciences, Springer-Verlag GmbH Germany, part of Springer Nature 2025
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
