This paper is a survey of the work done by Pinto and Golubitsky [13] concerning two models of central pattern generators, one for leg rhythms in bipeds and the other for arm and leg interlimb coordination patterns in bipeds. We focus on the model proposed for the rhythms of leg movements, leg. We use a mathematical approach, based on symmetry techniques, to study the periodic solutions produced...

8 David A. Klein, Angelica Patino, and Matthew C. Tresch 9 Northwestern University 10 Departments of Biomedical Engineering, Physical Medicine and Rehabilitation, and Physiology 11 12 Running title: Flexibility of CPGs 13 14 Address for correspondence: 15 Matthew Tresch 16 Northwestern University 17 Feinberg School of Medicine 18 Ward 5-198, Physiology 19 303 E. Chicago Ave 20 Chicago, IL 60611...

Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central Pattern Generators (CPGs) are among the most versatile solutions. These controllers are often based on loosely-coupled oscillators similar to those found in th...

We present a model of the single-ganglion oscillator of the leech swim central pattern generator (CPG). The model is based on the known neuronal architecture of this circuit. Free parameters in the model were "tted to produce membrane potential oscillations matching those seen during swimming. However, the oscillations produced are not robust to small ($5%) changes in the parameters. We propose...

This paper describes an oscillator-based controller that was implemented on a twowheeled, differential drive robot. The controller is loosely based on central pattern generator circuits seen in many animals, and was developed to operate in unknown or changing environments. A unique feature is that the controller adjusts its oscillator parameters based on the pattern of sensory feedback. The con...

Opublikowany 50 lat temu model nerwowej regulacji oddychania Clarka i Eulera był inspiracją dla nowego podejścia do badań ośrodkowego generatora głębokości rytmu oddychania. Dzięki tym badaniom nasza wiedza dotycząca zarówno anatomicznej lokalizacji, jak charakterystyki działania generatorów wzorca oddechowego uległa dużej zmianie. W prezentowanym artykule przedstawiono historię (CPG), a w szcz...

We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the essential conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those essential conditions described in physical terms. PD-controller at...