Modeling of a Neural Pattern Generator with Coupled nonlinear Oscillators

Bay, John S.; Hemami, H.

doi:10.1109/tbme.1987.326091

Cited by 154 publications

(72 citation statements)

References 19 publications

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“…Initiated by Huygens in the 17th century, the study of coupled oscillators involves today a variety of research fields, such as mathematics [13,58,74,75], biology [10,48,73], neuroscience [6,24,31,43,50,64,87,88], robotics [4,32], and electronics [9], to cite just a few. Theoretical analysis of coupled oscillators can be performed either in phase-space, as e.g.…”

Section: Introductionmentioning

confidence: 99%

On partial contraction analysis for coupled nonlinear oscillators

2004

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We describe a simple but general method to analyze networks of coupled identical nonlinear oscillators, and study applications to fast synchronization, locomotion, and schooling. Specifically, we use nonlinear contraction theory to derive exact and global (rather than linearized) results on synchronization, anti-synchronization and oscillator-death. The method can be applied to coupled networks of various structures and arbitrary size. For oscillators with positive-definite diffusion coupling, it can be shown that synchronization always occur globally for strong enough coupling strengths, and an explicit upper bound on the corresponding threshold can be computed through eigenvalue analysis. The discussion also extends to the case when network structure varies abruptly and asynchronously, as in "flocks" of oscillators or dynamic elements.

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Section: Introductionmentioning

confidence: 99%

On partial contraction analysis for coupled nonlinear oscillators

2004

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“…The robot can draw circles, semi-circles and a straight lines (Hemami & Dariush, 2010). The central control problem has been formulated with pattern generators (Wang & Alkon, 1993;Bay & Hemami, 1987;Wang, 2003). We will not consider issues of scaling for the amplitudes and the speed of motion here.…”

Section: Response To Visual Inputmentioning

confidence: 99%

Towards a Cybernetic Model of Human Movement

Hemami¹,

Tarr²,

Li³

et al. 2016

MER

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An elementary computational framework, as a first step to an eventual comprehensive model of human movement, is presented. Such a model in conjunction with anatomical, physiological and experimental studies should provide a means of verifying theoretical, experimental, and heuristic models of human movement. For this purpose, a three-dimensional three link humanoid model and a two-link planar arm model are presented to explore responses to simple external forces. Such models are useful for a variety of current applications in art, science, engineering, sports, and medicine. The models are subjected to kinesthetic, auditory, and visual inputs. Creating desired behavior is the goal. The models are flexible, modular, and expandable for inclusion of more segments, muscles, and sensory and central nervous system (CNS) processing. Three computer simulations are presented: rhythmic maneuvers of the three link model, in response to periodic motion of a platform, the planar arm producing visually observed alphabet-like characters in response to visual inputs, and processing of music to provide rhythms for a three-link dance.

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“…(1) chain [22,9,23,24], used mainly for snake robots (2) star [25,26,5,27,28], that is a "pacemaker"/ "clock" oscillator which provides a synchronizing signal to the other oscillators (3) tree [29][30][31], where essentially the oscillators are connected as a tree, from proximal to distal joints (4) connection between homologous joints [32][33][34][35][36][37][38][39][40], i.e. joints with a similar function (5) full connection between the oscillators [41][42][43] Our purpose is to let the user modify the behavior of the robot by changing (through touching) the oscillator parameters.…”

Section: Cpg Networkmentioning

confidence: 99%