Modeling a Central Pattern Generator to Generate the Biped Locomotion of a Bipedal Robot Using Rayleigh Oscillators

Mondal, Sukumar; Nandy, Anup; Verma, Chandrapal; Shukla, Shobha; Saxena, Neera; Chakraborty, Pavan; Nandi, Gora Chand

doi:10.1007/978-3-642-22606-9_31

Cited by 11 publications

(5 citation statements)

References 17 publications

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“…The RMSEs, the maximum absolute errors, and the cumulative errors between the gait cycle time of the thigh reference angle (θ t_R ) and that of the subject's thigh's swing angle (θ t_a ) in two walking processes are shown in Table 1. In Figures 11, 13 and Table 1, the traditional method [20]- [23], [26] that uses the subject's previous gait cycle time as its subsequent gait cycle time is added for comparison. In Table 1, in the first walking process, the RMSE between the gait cycle time of the thigh reference angle (θ t_R ) and that of the subject's thigh's swing angle (θ t_a ) is 0.014 s, the maximum absolute error is 0.030 s, TABLE 1.…”

Section: ) Motion Synchronizationmentioning

confidence: 99%

“…On this basis, Nandi et al [22] established the mutual coupled CPG model to imitate the motions of the lower limb. Mondal et al [23] optimized the parameters of the Rayleigh oscillator using Genetic algorithm to match an actual human locomotion captured by the intelligent gait oscillation detector biometric device. Kumar et al [24] studied the phase difference between the oscillator entrained response and the external excitation in the case of a floor subjected to a harmonic lateral motion.…”

Section: Introductionmentioning

confidence: 99%

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Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

2020

IEEE Access

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In order to synchronize the motions of the above-knee amputee's limbs and smart prosthetic knee in practical applications, the principle of a Rayleigh oscillator-based reference angle generator (RORAG) for the motion control of smart prosthetic knees is proposed. The central pattern generator (CPG) model of the lower limb in this paper uses a pair of phase-coupling Rayleigh oscillators to imitate the human's lower limb's biological CPG, where the used Rayleigh oscillators are improved to exactly represent the motion characteristics of the lower limb. A frequency control method for the CPG model is proposed to synchronize the thigh reference angle, which is generated by the lower limb's CPG model, with the swing angle of the above-knee amputee's residual thigh. The RORAG model is developed by using the real-time simulation system. An experimental system is developed to verify the performance of the RORAG model in two terms of the curve shape and motion synchronization. Further, in order to estimate the application value of the proposed RORAG model in two terms of the real-time and accuracy, a bio-guided motion platform system is developed and fabricated. On this motion platform system, the RORAG model is used to control a prosthetic knee prototype. The experimental results show that the developed RORAG model can imitate the subject's knee joint's swing angle accurately in real time. Therefore, the proposed RORAG is effective in practical applications. INDEX TERMS Motion characteristics, reference angle generator, prosthetic knees, Rayleigh oscillator.

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Section: ) Motion Synchronizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

2020

IEEE Access

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“…as measured for normal subject as in [12]. The applied DRF sensor was investigated in our last work [4], its general configuration as in Fig.…”

Section: A Dual Reaction Force (Drf) Sensorsmentioning

confidence: 99%

A Novel Walking Speed Control Strategy for Power Augmentation Exoskeletons based on Neural Networks

Ahmed

Musa²

2020

FJES

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This paper addresses a novel sensing technique to minimize the interaction force of walking speed transitions during the navigation of a coupled human-exoskeleton power augmentation system. The proposed technique is able to classify the intended walking speed based on Dual Reaction Force (DRF) Sensor. The human brain as a complex information processing device is quite difficult to be simulated, especially when considering the processing speed and the speed of sensed signals through the human nervous system throughout the human body. We developed the DRF sensors for preemptive identification of pilot intentions for walking speed transitions to augment the response of the exoskeleton to shadow pilot's movements. The Dynamic Threshold Neural Networks (DTNNs) is used to classify the input signals and make a decision on the transition of system's walking speed according to the pilot's intentions and walking speed limitation. The actions for walking speed transitions are simulated in MATLAB/Simulink, and Variable Admittance Controller (VAC) and applied. To show the efficiency of the proposed walking speed control strategy, comparison is conducted with ordinary VAC algorithm technique.

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“…The biological neural networks, CPGs, have been shown to produce rhythmic outputs. Using the CPGs model like Rayleigh Oscillators to generate the locomotion for biped robot has been successfully achieved (Mondal et al, 2011). In addition, Hopf oscillator as one of the classical nonlinear CPGs is studied in (Abusabah et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Online Gait Generation for an Exoskeleton Used in Lower Limb Rehabilitation

Wang¹,

Yin²

2020

STUD INFORM CONTROL

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Providing walking assistance for mild hemiplegia patients with lower limb rehabilitation exoskeleton has gained considerable attention. The patients' motion characteristics should be emphasized, meanwhile the planning gait should always maintain the balance ability in the walking procedure. In this paper, an online balance gait generation strategy is proposed for an exoskeleton used in lower limb rehabilitation. In the present research, the online gait generation strategy is explained and consists of a gait planning and a gait control strategy. In the gait planning strategy, the healthy swing foot trajectory has been learned, modelled and modified for next cycles' exoskeleton motion by applying improved differential evolution Adaptive Hopf (iDE AHopf) oscillators. Meanwhile to illustrate the human motion intention, the dynamic step length estimation method is utilized to estimate the step length. The discrete step planner determines the motion of the exoskeleton's centre of gravity (CoG). In the gait control strategy, the online balance gait regulation could regulate the exoskeleton joint reference adaptively to confirm the maximum zero-moment-point (ZMP) walking stability according to the PID controller feedback joint signal. Finally, the corresponding simulation results demonstrate the effectiveness of the proposed strategy by verifying the gait learning rate and ZMP stability margin.

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Modeling a Central Pattern Generator to Generate the Biped Locomotion of a Bipedal Robot Using Rayleigh Oscillators

Cited by 11 publications

References 17 publications

Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

A Novel Walking Speed Control Strategy for Power Augmentation Exoskeletons based on Neural Networks

Online Gait Generation for an Exoskeleton Used in Lower Limb Rehabilitation

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