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.

中文翻译：

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the地面转弯背后的神经机制建模。

为了探索sal陆地转弯的神经机制，通过修改现有生物力学模型的前肢结构，提出了一种改进的生物力学模型。基于提出的改进的生物力学模型，构建了一个新的脊柱运动网络模型，该模型包含中间神经元网络和运动神经元池。还为新模型开发了控制方法，该方法可提高其瞬态响应速度，控制前肢的初始挥杆顺序，并产生不同的步行转弯步态和当场转弯（转弯而不向前移动）。仿真结果表明，新的脊柱运动网络模型控制的生物力学模型可以产生不同的步行转弯和就地转弯，并且可以控制前肢的姿势和初始挥杆顺序。此外，所提出模型的瞬态响应速度非常快。因此，本文为探索the脊椎电路的运作机制提供了有用的工具。此外，这里提出的研究结果可能会启发仿生机器人的人工脊柱控制网络的建设。