2019
DOI: 10.1101/737031
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A simple CPG-based model to generate human hip moment pattern in walking by generating stiffness and equilibrium point trajectories

Abstract: Equilibrium point hypothesis (its developed version named as referent control theory)presents a theory about how the central nerves system (CNS) generates human movements. On the other hand, it has been shown that nerves circuits known as central pattern generators (CPG) likely produce motor commands to the muscles in rhythmic motions. In the present study, we designed a bio-inspired walking model, by coupling double pendulum to CPGs that produces equilibrium and stiffness trajectories as reciprocal and co-act… Show more

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