1. Coordinating Central Pattern Generators for Locomotion For repetitive movements such as seen in locomotion, oscillators have been proposed to control the muscle contractions needed to drive the muscles. Two competing ideas in the world of motor control is reflex vs. pattern generation Clearly, in order to control a system as complex as this requires significant coordination between the phases and frequencies of the different oscillators. Both CPGs and reflexes seem to be involved.

2. The basic idea is one of alternating muscle activation to produce an oscillatory movement. "GO" signal bending swinging squeezing

3. This idea is extended to many Actuators and the problem of Coordination results. Each circle is capable of self-oscillation Chiel and Beer

4. Simoni et al - Georgia Tech Large systems have been made to simulate swimming in leeches and lampreys

5. One possible application or testbed for locomotion Other ideas might include: * Swinging robot legs * Rolling snake robot

6. Chip Idea: 1. Design an oscillatory spiking neural network that produces coordinated activity that is appropriate for driving the finger robot. This can be open loop oscillating. 2. Integrate various sensory inputs that will coordinate the motors such that Certain phases are initiated by touch sensors on the robot.