This paper describes how a distributed neural architecture for the general control of robots has been applied for the generation of a walking behaviour in the Aibo robotic dog. The architecture described has been already demonstrated useful for the generation of more simple behaviours like standing or standing up. This paper describes specifically how it has been applied to the generation of a ...

This paper proposes an approach to design of an artificial central pattern generator (CPG) with a feedback control loop. CPG is the biological neural network that generates rhythmic movements for locomotion of animals. A crucial point in designing of an artificial CPG controller is how to deal with sensory information on surrounding environments. Hence, we investigated the properties of an arti...

In this article, the method for increasing dynamic stability of quadruped robot is proposed. Previous researches on dynamic walking of quadruped robots have used only walking pattern called central pattern generator (CPG). In this research, different from walking generation with only CPG, a instinctive stability measure called landing accordance ratio, is proposed and used for increasing dynami...

Adaptation is a central process in the life cycle of clinical practice guidelines (CPGs), if a broad acceptance is to be achieved. Currently, there is no fully integrated solution for this process available. Due to the risk of introducing errors or compromising the evidence base, users and persons in charge often hesitate. To overcome these problems, we present a manageable pathway for the adap...

This paper introduces the Neural Oscillator Model of Speech Timing and Rhythm (NOMSTR), which is designed to be a flexible tool for investigating the systems which affect speech rhythm and timing through simulation. NOMSTR is an artificial neural network (ANN) model which incorporates oscillators, inspired by central pattern generators (CPGs), a type of neural circuit which underlies other type...

We present, here, our analysis of systematic divergences in parallel EnglishHindi dependency treebanks based on the Computational Paninian Grammar (CPG) framework. Study of structural divergences in parallel treebanks not only helps in developing larger treebanks automatically, but can also be useful for many NLP applications such as data-driven machine translation (MT) systems. Given that the ...

Short-term synaptic plasticity (STP) is a transient (milliseconds to minutes) activity-dependent change in the amplitude (strength) of the postsynaptic current in response to presynaptic activity. It has clear implications for neural signaling and has been studied for several decades. Much of the modeling work has focused on the events in the presynaptic terminal and primarily on the role of Ca...

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 necessary 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 necessary conditions described in physical terms. A PD controller ...

In this paper, we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new “slip-adaptive” strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking pattern. The second strategy for a walk uses a force ...

We present a discrete formal model of the central pattern generator (CPG) located in the buccal ganglia of Aplysia that is responsible for mediating the rhythmic movements of its foregut during feeding. Our starting point is the continuous dynamical model for pattern generation underlying fictive feeding in Aplysia proposed by Baxter et. al. [4]. The discrete model is obtained as a composition ...