Implementation of Biped Locomation Movement with Central Pattern Generator (CPG)

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A Bipedal Walk Using Central Pattern Generator(CPG)

In biological systems, the rhythm generator mechanism called Central Pattern Generator (CPG) is involved in rhythmic activities, such as locomotion, respiration, heartbeat, etc, and various mathematical neuron models are proposed. In this paper, the CPG network consists of the Matsuoka neuron model, and is introduced to realize the locomotion of a bipedal robot. The outputs of neurons are utili...

متن کامل

A Realtime Pattern Generator for Biped Walking

For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern genera...

متن کامل

Impact of movement and movement-related feedback on the lamprey central pattern generator for locomotion.

A semi-reduced, minimally restrained lamprey preparation was used to investigate the impact of movement and movement-related feedback during D-glutamate-induced locomotion. The preparation consisted of the trunk alone with the spinal cord exposed to the bathing solution. Two conditions were compared using electromyography or nerve recording: (i) muscle and spinal cord, (ii) spinal cord alone su...

متن کامل

Symmetry-Breaking in a Rate Model for a Biped Locomotion Central Pattern Generator

The timing patterns of animal gaits are produced by a network of spinal neurons called a Central Pattern Generator (CPG). Pinto and Golubitsky studied a four-node CPG for biped dynamics in which each leg is associated with one flexor node and one extensor node, with Z2 × Z2 symmetry. They used symmetric bifurcation theory to predict the existence of four primary gaits and seven secondary gaits....

متن کامل

Walking Pattern Generator Using an Evolutionary Central Pattern Generator

For the generation of locomotion, such as walking, running or swimming, vertebrate and invertebrate animals use the Central Pattern Generator (CPG). In this paper, a walking pattern generator is proposed using an evolutionary optimized CPG. Sensory feedback pathways in CPG are proposed, which uses Force Sensing Resistor (FSR) signals. For the optimization of CPG parameters, quantuminspired evol...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of the Institute of Science and Technology

سال: 2020

ISSN: 2146-0574

DOI: 10.21597/jist.699623