Sensorimotor delays constrain robust locomotion in a 3D kinematic model of fly walking.

ABSTRACT: Walking animals must maintain stability in the presence of external perturbations, despite significant temporal delays in neural signaling and muscle actuation. Here, we develop a 3D kinematic model with a layered control architecture to investigate how sensorimotor delays constrain robustness of walking behavior in the fruit fly, Drosophila. Motivated by the anatomical architecture of insect locomotor control circuits, our model consists of three component layers: a neural network that generates realistic 3D joint kinematics for each leg, an optimal controller that executes the joint kinematics while accounting for delays, and an inter-leg coordinator. The model generates realistic simulated walking that resembles real fly walking kinematics and sustains walking even when subjected

SUBMITTER: Karashchuk L 

PROVIDER: S-EPMC11071299 | biostudies-literature | 2025 Jan

REPOSITORIES: biostudies-literature