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Biologically inspired control approaches based on central pattern generators (CPGs) with neural oscillators have been drawing much attention for the purpose of generating rhythmic motion for biped robots with human-like locomotion. This article describes the design of a neural-oscillator-based gait-rhythm generator using a network of Matsuoka oscillators to generate a walking pattern for biped robots...
Two types of neural oscillators with the degree of adaptation, Matsuoka oscillator and McMillen oscillator, are compared each other, and their differences in the system structure are discussed. The Hopf bifurcation analysis is revisited in detail to a half-center oscillator in the latter oscillator. Simulation results are compared each other when the both oscillators are applied as central pattern...
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...
Fundamental properties of a CPG using Van del Pol oscillators are examined to generate some locomotion patterns for a semi-looper-like worm robot, where such a robot adopts a locomotion of green caterpillar as a basic locomotion pattern, but sometimes it can realize a locomotion of looper. Assume that the robot is composed of simple three serial links, as a fundamental research. Several simulations...
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