Research on walking gait of biped robot based on a modified CPG model
Summary: The neurophysiological studies of animals locomotion have verified that the fundamental rhythmic movements of animals are generated by the central pattern generator (CPG). Many CPG models have been proposed by scientific researchers. In this paper, a modified CPG model whose output function is \(\sin(x)\) is presented. The paper proves that the modified model has stable periodic solution and characteristics of the rhythmic movement using the Lyapunov judgement theorem and the phase diagram. A modified locomotion model is established in which the credit-assignment cerebellar model articulation controller (CA-CMAC) algorithm is used to realize the pattern mapping between the CPG output and the musculoskeletal system. And a seven-link biped robot is employed to simulate cyclic walking gait in order to test the validity of the locomotion model. The main findings include the following. (1) The modified CPG model can generate spontaneous oscillations which correspond to biological signals. (2) The analysis of the modified locomotion model reveals that the CA-CMAC algorithm can be used to realize the pattern mapping between the CPG output and the musculoskeletal system.
- Modeling of a bipedal robot using mutually coupled Rayleigh oscillators
- Robust control of CPG-based 3D neuromusculoskeletal walking model
- Reinforcement learning for a biped robot based on a CPG-actor-critic method
- A biologically consistent model of legged locomotion gaits
- Modelling gait transition in two-legged animals
- A model fo the neuro-musculo-skeletal system for human locomotion. I: Emergence of basic gait
- A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
- Analysis of a neural oscillator
- Cosine Tuning Minimizes Motor Errors
- Method of bifurcation analysis of cellular neural network for CPG models
- Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm
- Sustained oscillations generated by mutually inhibiting neurons with adaptation
- Modeling and finite-time walking control of a biped robot with feet
- Reinforcement learning for a biped robot based on a CPG-actor-critic method
- Gaits-transferable CPG controller for a snake-like robot
- Exploring human rhythmic gait movement in the role of cerebral cortex signal
- Modeling of a bipedal robot using mutually coupled Rayleigh oscillators
- 3-dimensional Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model
- Realization of neural network for gait characterization of quadruped locomotion
- Robust control of CPG-based 3D neuromusculoskeletal walking model
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