
@article {56656,
	title = {Dynamics and stability of running on rough terrains.},
	journal = {R Soc Open Sci},
	volume = {6},
	year = {2019},
	month = {2019 Mar},
	pages = {181729},
	abstract = {<p>Stability of running on rough terrain depends on the propagation of perturbations due to the ground. We consider stability within the sagittal plane and model the dynamics of running as a two-dimensional body with alternating aerial and stance phases. Stance is modelled as a passive, impulsive collision followed by an active, impulsive push-off that compensates for collisional losses. Such a runner has infinitely many strategies to maintain periodic gaits on flat ground. However, these strategies differ in how perturbations due to terrain unevenness are propagated. Instabilities manifest as tumbling (orientational instability) or failing to maintain a steady speed (translational instability). We find that open-loop strategies that avoid sensory feedback are sufficient to maintain stability on step-like terrains with piecewise flat surfaces that randomly vary in height. However, these open-loop runners lose orientational stability on rough terrains whose slope also varies randomly. The orientational instability is significantly mitigated by minimizing the tangential collision, which typically requires sensory information and anticipatory strategies such as leg retraction. By analysing the propagation of perturbations, we derive a single dimensionless parameter that governs stability. This parameter provides guidelines for the design and control of both biological and robotic runners.</p>
},
	issn = {2054-5703},
	doi = {10.1098/rsos.181729},
	author = {Dhawale, Nihav and Mandre, Shreyas and Venkadesan, Madhusudhan}
}
@article {1038,
	title = {Dynamical feature extraction at the sensory periphery guides chemotaxis.},
	journal = {Elife},
	volume = {4},
	year = {2015},
	month = {2015},
	abstract = {<p>Behavioral strategies employed for chemotaxis have been described across phyla, but the sensorimotor basis of this phenomenon has seldom been studied in naturalistic contexts. Here, we examine how signals experienced during free olfactory behaviors are processed by first-order olfactory sensory neurons (OSNs) of the Drosophila larva. We find that OSNs can act as differentiators that transiently normalize stimulus intensity-a property potentially derived from a combination of integral feedback and feed-forward regulation of olfactory transduction. In olfactory virtual reality experiments, we report that high activity levels of the OSN suppress turning, whereas low activity levels facilitate turning. Using a generalized linear model, we explain how peripheral encoding of olfactory stimuli modulates the probability of switching from a run to a turn. Our work clarifies the link between computations carried out at the sensory periphery and action selection underlying navigation in odor gradients.</p>
},
	issn = {2050-084X},
	doi = {10.7554/eLife.06694},
	author = {Schulze, Aljoscha and Gomez-Marin, Alex and Rajendran, Vani G and Lott, Gus and Musy, Marco and Ahammad, Parvez and Deogade, Ajinkya and Sharpe, James and Riedl, Julia and Jarriault, David and Trautman, Eric T and Werner, Christopher and Venkadesan, Madhusudhan and Druckmann, Shaul and Jayaraman, Vivek and Louis, Matthieu}
}
