Bio-inspired design strategies for central pattern generator control in modular robotics

Abstract

New findings in the nervous system of invertebrates have shown how a number of features of central pattern generator (CPG) circuits contribute to the generation of robust flexible rhythms. In this paper we consider recently revealed strategies that living CPGs follow to design CPG control paradigms for modular robots. To illustrate them, we divide the task of designing an example CPG for a modular robot into independent problems. We formulate each problem in a general way and provide a bio-inspired solution for each of them: locomotion information coding, individual module control and inter-module coordination. We analyse the stability of the CPG numerically, and then test it on a real robot. We analyse steady state locomotion and recovery after perturbations. In both cases, the robot is able to autonomously find a stable effective locomotion state. Finally, we discuss how these strategies can result in a more general design approach for CPG-based locomotion.

Closed-loop control of a minimal central pattern generator network

“…This is also the function that is given to CPG-based bio-inspired circuits in robotic applications [24,25]. CPGs show a remarkable ability to adapt to different situations, e.g.…”

Design of neural circuit for sidewinding of snake-like robots

“…CPGbased controllers have already been successfully developed and applied on snake-like robots for generating serpentine gait [11], swimming gait [12], caterpillar-like gait [13] and worm-like gait [14], etc. However, there are no CPG-based controllers that are used for mimicking sidewinding.…”

Bio-Inspired Integrated Sensing and Control Flapping Flight for Micro Aerial Vehicles

“…al. [33] designed a control law for modular robots by approximating short timescale neuron dynamics. Because there is such a short timescale required for integration, the neuron dynamics were integrated offline.…”

“…Time scale separation is used quite commonly in flight control design in a similar fashion [89,103,73,35]. Incidentally, equation (33) suggests that significant time scale separation is to be expected in slow aircraft with large aspect ratio wings, such as gliders and high altitude, long endurance aircraft like the NASA HALE [71,72].…”