A Bipedal Walk Using Central Pattern Generator(CPG)
نویسندگان
چکیده
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 utilized as the target angles of corresponding joints. And the parameters are optimized using Genetic Algorithm, which has several steps to find out large number of parameters according to structure of CPG network. The bipedal walk simulations are carried out using Matlab and DADS.
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تاریخ انتشار 2004