Central pattern generators for locomotion control in animals and robots: A review

Ijspeert, Auke Jan

doi:10.1016/j.neunet.2008.03.014

Cited by 1,589 publications

(1,035 citation statements)

References 144 publications

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“…Sensor information is then used to correct the error and adapt the motion to the peculiar situation. Ijspeert (2008) and Dégallier Rochat and Ijspeert (2010) provide a comprehensive overview on the biologically inspired methods, particularly CPG-based, for robot locomotion. The effects of CPG can be noticed at different levels in the form of Primitives: at the level of muscles, with EMGs, or at the level of the kinematics, from the joint trajectories.…”

Section: Introductionmentioning

confidence: 99%

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

et al. 2013

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This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A Principal Component Analysis (PCA) on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling follow: results indicate a speed-optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots.

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Section: Introductionmentioning

confidence: 99%

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

et al. 2013

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“…Indeed, experiments on lampreys (Cohen and Wallen (1980), Grillner (1985)), on salamanders (Delvolvé et al (1999)) and on frog embryos (Soffe and Roberts (1982)) have shown that when the spinal cord is isolated from the body, electrical or chemical stimulations activate patterns of activity, called fictive locomotion, very similar to the ones observed during intact locomotion. Since then, the CPGs hypothesis has been strengthen by experiments on both vertebrates and invertebrates (see Stein et al (1997) or Ijspeert (2008) for more comprehensive reviews). Grillner (1985) proposed that CPGs are organized as coupled unit-burst elements with at least one unit per articulation (i.e.…”

Section: Central Pattern Generatorsmentioning

confidence: 99%

“…Cheng et al (1998) report experiments where these units can be divided even further with independent oscillatory centers for flexor and extensor muscles. Furthermore, several experiments show that CPGs are distributed networks made of multiple coupled oscillatory centers (Ijspeert (2008)). …”

Section: Central Pattern Generatorsmentioning

confidence: 99%

Modeling discrete and rhythmic movements through motor primitives: a review

Dégallier

Ijspeert

2010

Biol Cybern

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Rhythmic and discrete movements are frequently considered separately in motor control, probably because different techniques are commonly used to study and model them. Yet, an increasing interest for a comprehensive model for movement generation requires to bridge the different perspectives arising from the study of those two types of movements. In this article, we consider discrete and rhythmic movement within the framework of motor primitives, i.e. of modular generation of movements. Thereby we hope to get an insight into the functional relationships between discrete and rhythmic movements and thus into a suitable representation for both of them. Within this framework we can define four possible categories of modeling for discrete and rhythmic movements depending on the required command signals and on the spinal processes involved in the generation of the movements. These categories are first discussed relatively to biological concepts such as force fields and central pattern generators and are then illustrated by several mathematical models based on dynamical system theory. A discussion on the plausibility of theses models concludes this work.

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“…Instead of being manipulated only by high-level control, bioinspired control strategies imitate movement patterns of animals and can be driven directly by sensing. Since the 1990s, studies on bio-inspired control have focused mainly on central pattern generator (CPG)-based control methods (Ijspeert, 2008;Wu et al, 2009;Yu et al, 2014) that are suitable for locomotion control of bio-inspired robots with multiple degrees of freedom (DOFs). Some researchers have used this type of method to control the dynamic properties of AS (Bliss et al, 2008).…”

Section: Introductionmentioning

confidence: 99%

Active structures integrated with wireless sensor and actuator networks: a bio-inspired control framework

Yang

Shen

Luo

2016

J. Zhejiang Univ. Sci. A

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Abstract:One of the main problems in controlling the shape of active structures (AS) is to determine the actuations that drive the structure from the current state to the target state. Model-based methods such as stochastic search require a known type of load and relatively long computational time, which limits the practical use of AS in civil engineering. Moreover, additive errors may be produced because of the discrepancy between analytic models and real structures. To overcome these limitations, this paper presents a compound system called WAS, which combines AS with a wireless sensor and actuator network (WSAN). A bio-inspired control framework imitating the activity of the nervous systems of animals is proposed for WAS. A typical example is tested for verification. In the example, a triangular tensegrity prism that aims to maintain its original height is integrated with a WSAN that consists of a central controller, three actuators, and three sensors. The result demonstrates the feasibility of the proposed concept and control framework in cases of unknown loads that include different types, distributions, magnitudes, and directions. The proposed control framework can also act as a supplementary means to improve the efficiency and accuracy of control frameworks based on a common stochastic search.

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Central pattern generators for locomotion control in animals and robots: A review

Cited by 1,589 publications

References 144 publications

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Modeling discrete and rhythmic movements through motor primitives: a review

Active structures integrated with wireless sensor and actuator networks: a bio-inspired control framework

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