宁夏大学学报（自然科学版中英文）2026，Vol.47Issue(3)：203-215,224,14.DOI:10.20176/j.cnki.nxdz.20260501
脊髓中枢模式发生器的动力学建模和四足步态调控
Dynamic Modeling of Spinal Central Pattern Generators and Quadruped Gait Regulation
摘要
Abstract
Central Pattern Generators(CPGs)in the spinal cord serve as the neural control centers for rhythmic limb movements in mammals and are crucial for understanding the mechanisms of motor control.However,the organizational structure of spinal cord neural circuits and the specific mechanisms by which they regulate rhyth-mic limb movements remain poorly understood.This paper systematically reviews biological experimental find-ings and advances in computational modeling related to spinal CPGs in quadruped animals.By integrating physi-ological experimental data,it constructs spinal CPG model featuring an asymmetric cervical-lumbar spine lay-out.This model simulates and implements biologically accurate quadruped gait patterns under the combined reg-ulation of spinal drive,specific ion current,and sensory feedback.The results provide new insights into the mechanisms of central rhythmic motion control in the spinal cord and offer guidance for further biological experi-ments related to quadrupedal motion.Additionally,these findings hold significant value for developing gait con-trol strategies for bionic quadrupedal and bipedal robots.Finally,this paper identifies current challenges faced by this research field and discusses future research directions.关键词
神经运动控制/脊髓中枢模式发生器/四足步态/计算建模/神经动力学Key words
neuromotor control/spinal CPGs/quadrupedal gaits/computational modeling/neurodynamics分类
医药卫生引用本文复制引用
韩芳,朱庆花,王青云,位新丹..脊髓中枢模式发生器的动力学建模和四足步态调控[J].宁夏大学学报（自然科学版中英文）,2026,47(3):203-215,224,14.基金项目
国家自然科学基金资助项目(12572067,12332004) （12572067,12332004）
