Modeling of the neural mechanism underlying the terrestrial turning of the salamander

In order to explore the neural mechanism underlying salamander terrestrial turning, an improved biomechanical model is proposed by modifying the forelimb structure of the existing biomechanical model. Based on the proposed improved biomechanical model, a new spinal locomotor network model is constructed which contains the interneuron networks and motoneuron pool. Control methods are also developed for the new model which increase its transient response speed, control the initial swing order of the forelimbs, and generate different walking turning gait and turning on the spot (turning without moving forward). The simulation results show that the biomechanical model controlled by the new spinal locomotor network model can generate different walking turning and turning on the spot, and can control posture and the initial swing order of the forelimbs. Moreover, the transient response speed of the proposed model is very rapid. This paper thus provides a useful tool for exploring the operational mechanism of the spinal circuitry of the salamander. In addition, the research results presented here may inspire the construction of artificial spinal control networks for bionic robots.