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Authors: Zhijun Yang ; Juan Huo and Alan Murray

Affiliation: Institute of Micro and Nano Systems, School of Engineering and Electronics, Edinburgh University, United Kingdom

ISBN: 978-989-8111-30-2

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.

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Paper citation in several formats:
Yang Z.; Huo J.; Murray A. and (2008). SELF-ORGANISATION OF GAIT PATTERN TRANSITION - An Efficient Approach to Implementing Animal Gaits and Gait Transitions.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8111-30-2, pages 75-79. DOI: 10.5220/0001476400750079

@conference{icinco08,
author={Zhijun Yang and Juan Huo and Alan Murray},
title={SELF-ORGANISATION OF GAIT PATTERN TRANSITION - An Efficient Approach to Implementing Animal Gaits and Gait Transitions},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2008},
pages={75-79},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001476400750079},
isbn={978-989-8111-30-2},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - SELF-ORGANISATION OF GAIT PATTERN TRANSITION - An Efficient Approach to Implementing Animal Gaits and Gait Transitions
SN - 978-989-8111-30-2
AU - Yang, Z.
AU - Huo, J.
AU - Murray, A.
PY - 2008
SP - 75
EP - 79
DO - 10.5220/0001476400750079

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