000129862 001__ 129862 000129862 005__ 20240112163659.0 000129862 0247_ $$2doi$$a10.1016/j.neucom.2020.06.151 000129862 0248_ $$2sideral$$a124658 000129862 037__ $$aART-2021-124658 000129862 041__ $$aeng 000129862 100__ $$0(orcid)0000-0002-8089-343X$$aBarrio, R.$$uUniversidad de Zaragoza 000129862 245__ $$aRoutes to tripod gait movement in hexapods 000129862 260__ $$c2021 000129862 5060_ $$aAccess copy available to the general public$$fUnrestricted 000129862 5203_ $$aThe use of hierarchical networks in motor pattern generation in hexapod robots and in insect movement provides ways to understand and control both systems. In this paper we consider the Central Pattern Generator (CPG) of insect movement consisting of six coupled neurons developed by Ghigliazza and Holmes (2004) that produces the global leg coordination pattern. We provide a detailed study of the possible gaits generated by the CPG through different numerical techniques recently developed for the study of small networks, which allow us to consider the complete model without any simplification. We combine the analysis of isolated neurons (using several three dimensional parameter spaces) to give a roadmap of the dynamics of the neurons involved, lateral phase lag plots to show the convergence and transitions towards particular patterns and a quasi-Monte Carlo sweeping method to describe different pattern routes in the parametric phase space. In all of our studies we have found the same final result: most of the observed patterns follow routes that lead to the stable tripod gait. We obtain several routes made of symmetrical patterns, but despite considering mainly a symmetric leg CPG we detect non-symmetrical patterns that provide (minor) routes present in the model. The bifurcations of the main pattern routes detected in the parameter space are studied in detail using continuation techniques. This study reveals the bifurcations that create and destroy the different routes and how for large values of some parameters only the tripod gait is present. Based on the symmetric case, a preliminary study of asymmetric configurations is done revealing the robustness of the already located patterns and routes. Due to the relevance of the tripod gait, and since more parameters are included in this study, we introduce an algorithm to locate the limit of the tripod gait in the parameter space, which shows that there is a large three parametric region where the tripod pattern is ubiquitous and highly dominant in rapidly moving insect regimes. 000129862 536__ $$9info:eu-repo/grantAgreement/ES/DGA-FEDER/E22-17R$$9info:eu-repo/grantAgreement/ES/DGA-FSE/E24-17R$$9info:eu-repo/grantAgreement/ES/DGA-FSE/LMP124-18$$9info:eu-repo/grantAgreement/ES/MICINN/MTM2016-77642-C2-2-P$$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2016-75458-R$$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/PGC2018-096026-B-I00$$9info:eu-repo/grantAgreement/ES/UZ/CUD2019-CIE-04 000129862 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/ 000129862 590__ $$a5.779$$b2021 000129862 591__ $$aCOMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE$$b39 / 145 = 0.269$$c2021$$dQ2$$eT1 000129862 592__ $$a1.66$$b2021 000129862 593__ $$aCognitive Neuroscience$$c2021$$dQ1 000129862 593__ $$aArtificial Intelligence$$c2021$$dQ1 000129862 594__ $$a10.3$$b2021 000129862 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000129862 700__ $$0(orcid)0000-0002-1184-5901$$aLozano, A.$$uUniversidad de Zaragoza 000129862 700__ $$0(orcid)0000-0002-7374-3222$$aMartínez, M.A.$$uUniversidad de Zaragoza 000129862 700__ $$0(orcid)0000-0003-3426-105X$$aRodríguez, M.$$uUniversidad de Zaragoza 000129862 700__ $$0(orcid)0000-0002-5701-1670$$aSerrano. S.$$uUniversidad de Zaragoza 000129862 7102_ $$12006$$2440$$aUniversidad de Zaragoza$$bDpto. Matemáticas$$cÁrea Geometría y Topología 000129862 7102_ $$12005$$2595$$aUniversidad de Zaragoza$$bDpto. Matemática Aplicada$$cÁrea Matemática Aplicada 000129862 773__ $$g641 (2021), 679-695$$pNeurocomputing$$tNeurocomputing$$x0925-2312 000129862 8564_ $$s9584386$$uhttps://zaguan.unizar.es/record/129862/files/texto_completo.pdf$$yVersión publicada 000129862 8564_ $$s2579658$$uhttps://zaguan.unizar.es/record/129862/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000129862 909CO $$ooai:zaguan.unizar.es:129862$$particulos$$pdriver 000129862 951__ $$a2024-01-12-14:09:03 000129862 980__ $$aARTICLE