Design process and tools for dynamic neuromechanical models and robot controllers. .. CPGDESIGN automates the analysis presented in Sect. 4.1. It assumes the network structure in Fig. 5. For a set of parameter values, it will calculate δ, or if δ. is provided, it will compute the corresponding strength of mutual inhibition. The user can simulate the dynamics, with the option to add external stimuli. When the simulation is complete, the equilibrium points will be found at every time step, using a log-bounded interior point Broyden–Fletcher–Goldfarb–Shanno (BFGS) minimizer. The eigenvalues and eigenvectors will also be calculated. The user then has the option to animate the phase portrait for each neuron over time, and calculate the nullclines corresponding to the equilibrium states. In this way the user can gain an intuitive understanding of the CPG’s dynamics. Finally, the program facilitates studying phase response properties by calculating whether or not the output was periodic, the period of oscillation, and the rising edges of one HC’s activity. CPGDESIGN can be downloaded at +http://biorobots.case.edu/download/neural_des+ +ign_tools/CPGDESIGN.zip+.

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