基于自生长的cpg局部网络分析-analysis of cpg local networks based on self - growth.docxVIP

AbstractWith the development of technology and related disciplines, researches on robot have gotten a wider range of technical methods. Different from the traditional design concepts, the bionics method of copying and recreating the form, function and control mechanisms of real animals through observing, learning and imitating the animals behavior of interacting with their living environment have brought new ideas to research on robot. Over the years, imitation and replication of biological structure has brought great suc cess to the field of robotic research. And also, with the deepening of neurobiology and bionic mechanism, biomimetic control method based on CPG network is becoming the hot topic of the foot robot. In the research field of CPG network based control method, the topology and gait generation method of CPG network is the focus of common concern. The theory and process of structure formation is the bases of constructing CPG network, and its on the starting stage, research in this field has important significance.In this paper, the research is based on development of biological neural networks, and study the method of constructing CPG local network.Firstly, statistic features and density of neurons distributed in the brain were analyzed. The statistics laws of multiple neurons distributed randomly in a limited square field with equal probability were studied. The basic environment for the development of multi-neuron network was builded.Secondly, the biological mechanisms of neuronal development, axonal growth and formation of local neural network were analyzed. The simplified models of neurite initiation and differentiation, neurite elongation, axon path finding were builded. By studying neuron axon growth features under the constraints of the gravitational field, the rules and mathematical treatment of multi-neuron axon growth in the plane were study. By analyzing results of a large number of network growth experiments, the mapping function between th