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In this paper, an evolutionary-optimized central pattern generator (CPG) considering equality constraints is proposed for stable modifiable bipedal walking. The proposed CPG generates the position trajectories of the swing foot and the center of pelvis in the Cartesian coordinate system at single and double support phases. The significance of the proposed CPG is that it can change the sagittal and...
Central pattern generator (CPG) consisting of neural oscillators, generates rhythmic signals using simple input signal. It can modify motor patterns to handle environmental perturbations by sensory feedback. In this paper, an evolutionary CPG for stable bipedal walking by the increased double support time is proposed. The proposed CPG generates swing motion of arms as well as ankle and the center...
Central pattern generator (CPG) is used to control the locomotion of vertebrate and invertebrate animals, such as walking, running or swimming. It consists of biological neural networks that can produce coordinated rhythmic signals by using simple input signals. In this paper, a full-body joint trajectory generator is proposed for stable bipedal walking by using an evolutionary optimized CPG. Sensory...
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