The Design of CPG Control Module of the Bionic Mechanical Crab

Comparative study of forced oscillators for the adaptive generation of rhythmic movements in robot controllers

“…Non-linear models of CPGs, composed of relaxation oscillators, can be entrained by an oscillatory input or with a coupled CPG if the coupling is strong enough or if the input frequency is close enough to the intrinsic frequency of the oscillator, thus ensuring coordination. Even though CPGs have mostly been used for robotic locomotion (Taga, 1995;Shan and Nagashima, 2002;Ayers, 2004;Kamimura et al, 2005;Arena et al, 2006;He et al, 2006;Pelc et al, 2008;Sprowitz et al, 2010;Liu et al, 2011;Pinto et al, 2012;Wang et al, 2013), see Ijspeert (2008) for a review, some studies explore how CPGs affect upper limb control as well (Williamson, 1998;Yang et al, 2010). The strength of CPGs resides in their self-synchronization ability, their oscillating stability despite perturbation and the variety of behaviors they can generate.…”