Authors:
Zhijun Yang
;
Juan Huo
and
Alan Murray
Affiliation:
Institute of Micro and Nano Systems, School of Engineering and Electronics, Edinburgh University, United Kingdom
Keyword(s):
Central pattern generator, oscillatory building block, gait transitions, Self-organisation, Hopfield network.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Machine Learning in Control Applications
;
Neural Networks Based Control Systems
Abstract:
As an engine of almost all life phenomena, the motor information generated by the central nervous system (CNS) plays a critical role in the activities of all animals. Despite the difficulty of being physically identified, the central pattern generator (CPG), which is a concrete branch of studies on the CNS, is widely recognised to be responsible for generating rhythmic patterns. This paper presents a novel, macroscopic and model-independent approach to the retrieval of different patterns of coupled neural oscillations observed in biological CPGs during the control of legged locomotion. Based on the simple graph dynamics, various types of oscillatory building blocks (OBB) can be reconfigured for the production of complicated rhythmic patterns. Our quadrupedal locomotion experiments show that an OBB-based artificial CPG model alone can integrate all gait patterns and undergo self-organised gait transition between different patterns.