AUTHOR=Harischandra Nalin , Cabelguen Jean-Marie , Ekeberg Örjan TITLE=A 3D Musculo-Mechanical Model of the Salamander for the Study of Different Gaits and Modes of Locomotion JOURNAL=Frontiers in Neurorobotics VOLUME=4 YEAR=2010 URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2010.00112 DOI=10.3389/fnbot.2010.00112 ISSN=1662-5218 ABSTRACT=
Computer simulation has been used to investigate several aspects of locomotion in salamanders. Here we introduce a three-dimensional forward dynamics mechanical model of a salamander, with physically realistic weight and size parameters. Movements of the four limbs and of the trunk and tail are generated by sets of linearly modeled skeletal muscles. In this study, activation of these muscles were driven by prescribed neural output patterns. The model was successfully used to mimic locomotion on level ground and in water. We compare the