Robust control of CPG-based 3D neuromusculoskeletal walking model

DOI10.1007/S00422-011-0464-4zbMATH Open1248.93123DBLPjournals/bc/KimTOH11OpenAlexW1966450604WikidataQ51482877 ScholiaQ51482877MaRDI QIDQ714149FDOQ714149

Yusuke Tagawa, Young-Woo Kim, Goro Obinata, Kazunori Hase

Publication date: 19 October 2012

Published in: Biological Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00422-011-0464-4

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zbMATH Keywords

robust control3D walking simulatorCPGwalking model

Mathematics Subject Classification ID

Kinetics in biochemical problems (pharmacokinetics, enzyme kinetics, etc.) (92C45) Application models in control theory (93C95)

Cites Work

• Sustained oscillations generated by mutually inhibiting neurons with adaptation
• A model of the neuro-musculo-skeletal system for anticipatory adjustment of human locomotion during obstacle avoidance
• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
• A model of the neuro-musculo-skeletal system for human locomotion. II: Real-time adaptability under various constraints
• Possible functional roles of phase resetting during walking

Cited In (3)

• A generalized locomotion CPG architecture based on oscillatory building blocks
• Reinforcement learning for a biped robot based on a CPG-actor-critic method
• Torque-stiffness-controlled dynamic walking with central pattern generators

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