Arm motion control model based on central pattern generator

2017 ◽  
Vol 38 (9) ◽  
pp. 1247-1256
Author(s):  
Zhigang Zheng ◽  
Rubin Wang
Keyword(s):  
Central Pattern Generator ◽  
Motion Control ◽  
Pattern Generator ◽  
Control Model ◽  
Model Based ◽  
Arm Motion

scholarly journals Motion Control of a Gecko-like Robot Based on a Central Pattern Generator

Sensors ◽  
2021 ◽  
Vol 21 (18) ◽  
pp. 6045
Author(s):  
Qing Han ◽  
Feixiang Cao ◽  
Peng Yi ◽  
Tiancheng Li
Keyword(s):  
Central Pattern Generator ◽  
Motion Control ◽  
Network Model ◽  
Vertical Plane ◽  
Pattern Generator ◽  
Control Model ◽  
Rhythm Control ◽  
Complex Environments ◽  
Control Signals ◽  
Sinusoidal Function

To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.

Motion Control of Hydraulic Quadruped Robot Based on Central Pattern Generator

2012 ◽  
Vol 8 (1) ◽  
pp. 433-438 ◽  
Author(s):  
Bin Chen ◽  
Zhong-Cai Pei ◽  
Zhi-Yong Tang ◽  
Xiao-Qiang Guo ◽  
Hai-Xiao Zhong
Keyword(s):  
Central Pattern Generator ◽  
Motion Control ◽  
Pattern Generator ◽  
Quadruped Robot

scholarly journals Rhythm motion control in bio‐inspired fishtail based on central pattern generator

2021 ◽  
Author(s):  
Song Chen ◽  
Yubiao Liu ◽  
Tehuan Chen ◽  
Junqiang Lou
Keyword(s):  
Central Pattern Generator ◽  
Motion Control ◽  
Pattern Generator

scholarly journals Eupnea, tachypnea, and autoresuscitation in a closed-loop respiratory control model

2017 ◽  
Vol 118 (4) ◽  
pp. 2194-2215 ◽  
Author(s):  
Casey O. Diekman ◽  
Peter J. Thomas ◽  
Christopher G. Wilson
Keyword(s):  
Central Pattern Generator ◽  
Closed Loop ◽  
Minute Ventilation ◽  
Respiratory Control ◽  
Pattern Generator ◽  
Control Model ◽  
Open Loop ◽  
Blood Oxygen ◽  
Rhythm Generation ◽  
Metabolic Demand

How sensory information influences the dynamics of rhythm generation varies across systems, and general principles for understanding this aspect of motor control are lacking. Determining the origin of respiratory rhythm generation is challenging because the mechanisms in a central circuit considered in isolation may be different from those in the intact organism. We analyze a closed-loop respiratory control model incorporating a central pattern generator (CPG), the Butera-Rinzel-Smith (BRS) model, together with lung mechanics, oxygen handling, and chemosensory components. We show that 1) embedding the BRS model neuron in a control loop creates a bistable system; 2) although closed-loop and open-loop (isolated) CPG systems both support eupnea-like bursting activity, they do so via distinct mechanisms; 3) chemosensory feedback in the closed loop improves robustness to variable metabolic demand; 4) the BRS model conductances provide an autoresuscitation mechanism for recovery from transient interruption of chemosensory feedback; and 5) the in vitro brain stem CPG slice responds to hypoxia with transient bursting that is qualitatively similar to in silico autoresuscitation. Bistability of bursting and tonic spiking in the closed-loop system corresponds to coexistence of eupnea-like breathing, with normal minute ventilation and blood oxygen level and a tachypnea-like state, with pathologically reduced minute ventilation and critically low blood oxygen. Disruption of the normal breathing rhythm, through either imposition of hypoxia or interruption of chemosensory feedback, can push the system from the eupneic state into the tachypneic state. We use geometric singular perturbation theory to analyze the system dynamics at the boundary separating eupnea-like and tachypnea-like outcomes. NEW & NOTEWORTHY A common challenge facing rhythmic biological processes is the adaptive regulation of central pattern generator (CPG) activity in response to sensory feedback. We apply dynamical systems tools to understand several properties of a closed-loop respiratory control model, including the coexistence of normal and pathological breathing, robustness to changes in metabolic demand, spontaneous autoresuscitation in response to hypoxia, and the distinct mechanisms that underlie rhythmogenesis in the intact control circuit vs. the isolated, open-loop CPG.

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