scholarly journals Generation and control of locomotion patterns for biped robots by using central pattern generators

2017 ◽  
Vol 8 (1) ◽  
Author(s):  
Julián Cristiano ◽  
Domènec Puig ◽  
Miguel Angel García
Keyword(s):  
Central Pattern Generators ◽  
Biped Robots ◽  
Pattern Generators ◽  
And Control

Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots

2008 ◽  
Vol 12 (1-2) ◽  
pp. 264-269 ◽  
Author(s):  
Guang Lei Liu ◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi
Keyword(s):  
Central Pattern Generators ◽  
Biped Robots ◽  
Pattern Generators

Applying central pattern generators to control the robofish with oscillating pectoral fins

2015 ◽  
Vol 42 (5) ◽  
pp. 392-405 ◽  
Author(s):  
Yong Cao ◽  
Shusheng Bi ◽  
Yueri Cai ◽  
Yuliang Wang
Keyword(s):  
Design Methodology ◽  
Three Dimensional ◽  
Central Pattern Generators ◽  
Content Type ◽  
Pectoral Fins ◽  
Cownose Ray ◽  
Pattern Generators ◽  
And Control ◽  
Scientific Tool ◽  
Oscillation Characteristics

Purpose – This paper aims to develop a robofish with oscillating pectoral fins, and control it to mimic the bionic prototype by central pattern generators (CPGs). Design/methodology/approach – First, the oscillation characteristics of the cownose ray were analyzed quantitatively. Second, a robofish with multi-joint pectoral fins was developed according to the bionic morphology and kinematics. Third, the improved phase oscillator was established, which contains a spatial asymmetric coefficient and a temporal asymmetric coefficient. Moreover, the CPG network is created to mimic the cownose ray and accomplish three-dimensional (3D) motions. Finally, the experiments were done to test the authors ' works. Findings – The results demonstrate that the CPGs is effective to control the robofish to imitate the cownose ray realistically. In addition, the robofish is able to accomplish 3D motions of high maneuverability, and change among different swimming modes quickly and smoothly. Originality/value – The research provides the method to develop a robofish from both 3D morphology and kinematics. The motion analysis and CPG control make sure that the robofish has the features of high maneuverability and camouflage. It is useful for military underwater applications and underwater detections in narrow environments. Second, this work lays the foundation for the autonomous 3D control. Moreover, the robotic fish can be taken as a scientific tool for the fluid bionics research.

scholarly journals Vocal Pathway Degradation in Gonadectomized Xenopus laevis Adults

2011 ◽  
Vol 105 (2) ◽  
pp. 601-614 ◽  
Author(s):  
Erik Zornik ◽  
Ayako Yamaguchi
Keyword(s):  
Xenopus Laevis ◽  
Courtship Behavior ◽  
Central Pattern Generators ◽  
Adult Males ◽  
Reproductive Behaviors ◽  
Pattern Generators ◽  
Motor Initiation ◽  
And Control

Reproductive behaviors of many vertebrate species are activated in adult males by elevated androgen levels and abolished by castration. Neural and muscular components controlling these behaviors contain numerous hormone-sensitive sites including motor initiation centers (such as the basal ganglia), central pattern generators (CPGs), and muscles; therefore it is difficult to confirm the role of each hormone-activated target using behavioral assays alone. Our goal was to address this issue by determining the site of androgen-induced vocal activation using male Xenopus laevis, a species in which androgen dependence of vocal activation has been previously determined. We compared in vivo calling patterns and functionality of two in vitro preparations—the isolated larynx and an isolated brain from which fictive courtship vocalizations can be evoked—in castrated and control males. The isolated larynx allowed us to test whether castrated males were capable of transducing male-typical nerve signals into vocalizations and the fictively vocalizing brain preparation allowed us to directly examine vocal CPG function separate from the issue of vocal initiation. The results indicate that all three components—vocal initiation, CPG, and larynx—require intact gonads. Vocal production decreased dramatically in castrates and laryngeal contractile properties of castrated males were demasculinized, whereas no changes were observed in control animals. In addition, fictive calls of castrates were degraded compared with those of controls. To our knowledge, this finding represents the first demonstration of gonad-dependent maintenance of a CPG for courtship behavior in adulthood. Because previous studies showed that androgen-replacement can prevent castration-induced vocal impairments, we conclude that degradation of vocal initiation centers, larynx, and CPG function are most likely due to steroid hormone deprivation.

scholarly journals Dynamic Locomotion of a Biomorphic Quadruped ‘Tekken’ Robot Using Various Gaits: Walk, Trot, Free-Gait and Bound

2009 ◽  
Vol 6 (1) ◽  
pp. 63-71 ◽  
Author(s):  
Y. Fukuoka ◽  
H. Kimura
Keyword(s):  
Control System ◽  
Control Method ◽  
Central Pattern Generators ◽  
Legged Locomotion ◽  
Irregular Terrain ◽  
Flat Terrain ◽  
New Development ◽  
Pattern Generators ◽  
And Control ◽  
Running Robots

Numerous quadruped walking and running robots have been developed to date. Each robot walks by means of a crawl, walk, trot or pace gait, or runs by means of a bound and/or gallop gait. However, it is very difficult to design a single robot that can both walk and run because of problems related to mechanisms and control. In response to this, we adapted a biological control method for legged locomotion in order to develop a dog-like quadruped robot we have named ‘Tekken’. Tekken has a control system that incorporates central pattern generators, reflexes and responses as well as a mechanism that makes the most of the control system. Tekken, which is equipped with a single mechanism, an unchangeable control method, and modifiable parameters, is capable of achieving walking and trotting on flat terrain, can walk using a free gait on irregular terrain, and is capable of running on flat terrain using a bounding gait. In this paper, we describe the mechanism, the control method and the experimental results of our new development.

The Design of Central Pattern Generators Based on the Matsuoka Oscillator to Generate Rhythmic Human-Like Movement for Biped Robots

2007 ◽  
Vol 11 (8) ◽  
pp. 946-955 ◽  
Author(s):  
Guang Lei Liu ◽  
◽  
Maki K. Habib ◽  
Keigo Watanabe ◽  
Kiyotaka Izumi
Keyword(s):  
Degrees Of Freedom ◽  
Central Pattern Generators ◽  
Biped Robot ◽  
Coupling Coefficients ◽  
Neuron Models ◽  
Bipedal Robots ◽  
Biped Robots ◽  
Coupling Dynamics ◽  
Pattern Generators ◽  
6 Degrees Of Freedom

We propose a controller based on a central pattern generator (CPG) network of mutually coupled Matsuoka nonlinear neural oscillators to generate rhythmic human-like movement for biped robots. The parameters of mutually inhibited and coupled Matsuoka oscillators and the necessary interconnection coupling coefficients within the CPG network directly influence the generation of the required rhythmic signals related to targeted motion. Our objective is to analyze the mutually coupled neuron models of Matsuoka oscillators to realize an efficient CPG design that leads to have dynamic, stable, sustained rhythmic movement with robust gaits for bipedal robots. We discuss the design of a CPG model with new interconnection coupling links and its inhibitation coefficients for a CPG-based controller. The new design was studied through interaction between simulated interconnection coupling dynamics with six links and a musculoskeletal model with the 6 degrees of freedom (DOFs) of a biped robot. We used the weighted outputs of mutually inhibited oscillators as torques to actuate joints. We verified the effectiveness of our proposal through simulation and compared the results to those of Taga’s CPG model, confirming better, more efficient generation of stable rhythmic walking at different speeds and robustness in response to disturbances.

scholarly journals From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

Symmetry ◽  
2021 ◽  
Vol 13 (10) ◽  
pp. 1773
Author(s):  
Mariève Blanchet ◽  
Pierre Guertin ◽  
Francine Pilon ◽  
Philippe Gorce ◽  
François Prince
Keyword(s):  
Central Pattern Generators ◽  
Movement Control ◽  
Walking Robots ◽  
Environmental Constraints ◽  
Task Requirements ◽  
Locomotor Activities ◽  
Pattern Generators ◽  
And Control ◽  
The Brain

This article deepens a reflection on why and how symmetry/asymmetry affects the motor and postural behavior from the neural source, uterine development, child maturation, and how the notion of symmetry/asymmetry has been applied to walking robot design and control. The concepts of morphology and tensegrity are also presented to illustrate how the biological structures have been used in both sciences and arts. The development of the brain and the neuro-fascia-musculoskeletal system seems to be quite symmetric from the beginning of life through to complete maturity. The neural sources of movements (i.e., central pattern generators) are able to produce both symmetric or asymmetric responses to accommodate to environmental constraints and task requirements. Despite the fact that the human development is mainly symmetric, asymmetries already regulate neurological and physiological development. Laterality and sports training could affect natural musculoskeletal symmetry. The plasticity and flexibility of the nervous system allows the abilities to adapt and compensate for environmental constraints and musculoskeletal asymmetries in order to optimize the postural and movement control. For designing humanoid walking robots, symmetry approaches have been mainly used to reduce the complexity of the online calculation. Applications in neurological retraining and rehabilitation should also be considered.

Effect of Central Pattern Generators Depended Different Walking Strategies on Gait Ability of Patients after Stroke

2017 ◽  
Vol 27 (2) ◽  
pp. 40
Author(s):  
Hua WU ◽  
Zaihua RU ◽  
Congying XU ◽  
Xudong GU ◽  
Jianming FU
Keyword(s):  
Central Pattern Generators ◽  
Pattern Generators

Rhythmic Pattern Generation in Invertebrates

2018 ◽  
pp. 390-400
Author(s):  
Astrid A. Prinz
Keyword(s):  
Central Pattern Generators ◽  
Pattern Generation ◽  
Rhythmic Pattern ◽  
Neuronal Circuit ◽  
Neuronal Circuits ◽  
Timing Circuit ◽  
Core Components ◽  
Pattern Generators

This chapter begins by defining central pattern generators (CPGs) and proceeds to focus on one of their core components, the timing circuit. After arguing why invertebrate CPGs are particularly useful for the study of neuronal circuit operation in general, the bulk of the chapter then describes basic mechanisms of CPG operation at the cellular, synaptic, and network levels, and how different CPGs combine these mechanisms in various ways. Finally, the chapter takes a semihistorical perspective to discuss whether or not the study of invertebrate CPGs has seen its prime and what it has contributed—and may continue to offer—to a wider understanding of neuronal circuits in general.

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