Lamprey model driving a robot


Terry Stewart, Ashley Kleinhans, 'tdatta'


To use Nengo, a "new" software program (introduced at the workshop) to simulate previously recorded (A. Cohen et al. '82) motor sensory data of the lamprey.

To see if the simulation reacted, or could react, in the same way as the in vivo recordings (A. McClellan? and A. Hagevik '97; Vogelstein et al. ') when turning motion was stimulated.


Previous studies have been submitted that extracted data defining the motor sensory output of the parasitic vertebrate lamprey. This project was based on these studies, attempting to simulate the neuronal data already gathered, the mid workshop simulation allowed participants to link with a java based lego Mindstorms robot demonstrating the lamprey movement.

Post robot demonstration, further studies where called upon that have been able to extract sensory motor data relating to turning, where the one side of the oral hood is stimulated, producing turning in the opposite direction.


Nengo simulation of lamprey demonstrated (output spike raster and preferred direction vector)

A model that includes coupled oscillators, replicating the different responses along the length of the lamprey's spine. This model is for two segments.

Lamprey like movement was produced post linking Nengo through RCX tools (LejOS)