Proceedings Article10.1109/ROBOT.2005.1570681
CPG Design using Inhibitory Networks
M.A. Lewis,Francesco Tenore,Ralph Etienne-Cummings +2 more
- 18 Apr 2005
- pp 3682-3687
81
TL;DR: The results indicate that an inhibitory framework can generate simple, understandable and flexible networks for legged robot control that can be implemented in custom VLSI circuits.
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Abstract: We describe in detail the behavior of an inhibitory Central Pattern Generator (CPG) network for robot control. A four-neuron, mutual inhibitory network forms the basic coordinating pattern for locomotion. This network then inhibits an eight-neuron network used to drive patterned movement. We show that we can get predictable control of important relationships such as the phase of the hip and the knee by adjusting tonic parameters. We demonstrate the basic concept both in a simulation that is used to drive a trotting bipedal robot as well as an aVLSI CPG chip that generates spiking burst patterns. Our results indicate that an inhibitory framework can generate simple, understandable and flexible networks for legged robot control that can be implemented in custom VLSI circuits.
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Citations
2008 Special Issue: Central pattern generators for locomotion control in animals and robots: A review
TL;DR: Research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coordinated patterns of high-dimensional rhythmic output signals while receiving only simple, low-dimensional, input signals, is reviewed.
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A Survey on CPG-Inspired Control Models and System Implementation
TL;DR: This paper surveys the developments of the last 20 years in the field of central pattern generator (CPG) inspired locomotion control, with particular emphasis on the fast emerging robotics-related applications.
303
CPG-based control of a turtle-like underwater vehicle
TL;DR: A new single-layered CPG method, where the CPG and the physical layers are combined as a single layer, to ensure the synchronization of the physical actuators in the presence of external disturbances, and shows that coupled nonlinear oscillators globally synchronize to a specific pattern that can be stereotyped by an outer-loop controller.
132
Neurobiologically Inspired Control of Engineered Flapping Flight
Soon-Jo Chung,Michael Dorothy +1 more
TL;DR: In this article, a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom is presented, where a rigorous mathematical and control theoretic framework to design complex three dimensional wing motions is presented based on phase synchronization of nonlinear oscillators.
Survey of locomotion control of legged robots inspired by biological concept
TL;DR: The biological mechanism, the existence evidences, and the network properties of CPG, Inspired by central pattern generator (CPG), a control method has been proved to be a successful attempt within this scope.
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