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This paper presents a system of central pattern generators (CPGs) made of a network of mutually coupled Matsuoka nonlinear neural oscillators. The CPG based controller is used to generate human like rhythmic motion for biped robots. The new design has been investigated through interaction between the dynamics of the coupled CPGs and the dynamics of a five-link musculoskeletal robot model with six...
This paper describes the design and analysis of a biologically inspired central pattern generator (CPG) using a network of mutually coupled nonlinear oscillators to generate rhythmic walking pattern for biped robots. The paper examines the characteristics of a CPG model composed of a network of nonlinear oscillators, and the effect of assigning symmetrical and asymmetrical coupling mechanism among...
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