Sensorimotor delays constrain robust locomotion in a 3D kinematic model of fly walking

Sensorimotor delays constrain robust locomotion in a 3D kinematic model of fly walking

Walking animals must maintain stability in the presence of external perturbations, despite significant temporal delays in neural signaling and muscle actuation. Here, we develop a 3D kinematic model with a layered control architecture to investigate how sensorimotor delays constrain the robustness of walking behavior in the fruit fly, Drosophila. Motivated by the anatomical architecture of insect locomotor control circuits, our model consists of…