In this paper, stable modifiable walking pattern algorithm is proposed using evolutionary optimized central pattern generator (CPG). Sensory feedback pathways in CPG are proposed, which use force sensing resistor (FSR) signals. For the optimization of CPG parameters, two-phase evolutionary programming (TPEP) is employed. Modifiable walking pattern generator (MWPG) generates position trajectory ...

This paper presents a novel approach to the emulation of locomotor central pattern generators (CPGs) of legged animals. Based on Scheduling by Multiple Edge Reversal (SMER), a simple but powerful distributed algorithm, it is shown how oscillatory building blocks (OBBs) can be created and how OBB-based networks can be implemented as asymmetric Hopfield-like neural networks for the generation of ...