CPG model for autonomous decentralized multi-legged robot system - Generation & transition of oscillation patterns and dynamics of oscillators

被引：0

作者：

Inagaki, S ^{[1
]}

Yuasa, H ^{[1
]}

Arai, T ^{[1
]}

机构：

[1] Univ Tokyo, Tokyo, Japan

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 7 | 2002年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A central pattern generator (CPG) model is proposed for a walk pattern generation mechanism of an autonomous decentralized multi legged robot system. The topological structure of the CPG is represented as a graph, on which two time evolution systems, Hamilton system and a gradient system, are introduced. The CPG model can generate oscillation patterns depending only on the network topology and bifurcate different oscillation patterns according to the network energy. It means that the robot can generate gait patterns only by connecting legs and transit gait patterns according to a parameter such as the desired speed.

引用

页码：150 / 157

页数：8

共 10 条

[1] Phase response characteristics of model neurons determine which patterns are expressed in a ring circuit model of gait generation [J].