CPG model for autonomous decentralized multi-legged robot system - Generation and transition of oscillation patterns and dynamics of oscillators

Robotics and Autonomous Systems

Volumn 44, Issue 3-4, 2003, Pages 171-179

  Inagaki, Shinkichi ^a   Yuasa, Hideo ^b,c   Arai, Tamio ^c  

^a NAGOYA UNIVERSITY   (Japan)

^b INST OF PHYS AND CHEMICAL RESEARCH   (Japan)

^c UNIVERSITY OF TOKYO   (Japan)

Author keywords

Autonomous decentralized system; Central pattern generator; Gait pattern; Legged robot; Pattern transition

Indexed keywords

DECENTRALIZED CONTROL; HAMILTONIANS; HEURISTIC METHODS; OSCILLATIONS; SENSORS;

GAIT PATTERN;

ROBOTS;

EID: 0042863228     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0921-8890(03)00067-8     Document Type: Conference Paper

References (17)

1. Pearson K., The control of walking. Scientific American. 235(6):1976;72-86.
2. Schöner G., Jiang W.Y., Kelso J.A.S., A synergetic theory of quadruped gaits and gait transitions. Journal of Theoretical Biology. 142:1990;359-391.
3. Yuasa H., Ito M., Coordination of many oscillators and generation of locomotory patterns. Biological Cybernetics. 63:1990;177-184.
4. Bay J.S., Hemami H., Modeling of a neural pattern generator with coupled nonlinear oscillators. IEEE Transactions on Biomedical Engineering. BME-34-4:1987;297-306.
5. Collins J.J., Richmond S.A., Hard-wired central pattern generators for quadrupedal locomotion. Biological Cybernetics. 71:1994;375-385.
6. Canavier C.C., Butera R.J., Dror R.O., Baxter D.A., Clark J.W., Byrne J.H., Phase response characteristics of model neurons determine which patterns are expressed in a ring circuit model of gait generation. Biological Cybernetics. 77:1997;367-380.
7. K. Tujita, K. Tuchiya, A. Onat, S. Aoi, M. Kawakami, Locomotion control of a multipod locomotion robot with CPG principles, in: Proceedings of the Sixth International Symposium of Artificial Life and Robotics, vol. 2, 2001, pp. 421-426.
8. Odashima T., Yuasa H., Luo Z.W., Ito M., Emergent generation of gait pattern for a myriapod robot system based on energy consumption. Journal of the Robotics Society of Japan. 17(8):1999;1149-1157. (in Japanese).
9. W.-M. Shen, B. Salemi, P. Will, Hormone-inspired adaptive communication and distributed control for CONRO self-reconfigurable robots, IEEE Transactions on Robotics and Automation 18 (5) (2002).
10. H. Urakawa, Laplacian and Networks, Shokabo, Tokyo, 1996 (in Japanese).
11. Yuasa H., Ito M., Autonomous decentralized systems and reaction-diffusion equation on a graph. Transactions of the Society of Instrument and Control Engineers. 35:1999;1447-1453. (in Japanese).
12. T. Ozawa, Electric Circuit I, Shokodo, Tokyo, 1980 (in Japanese).
13. Golubitsky M., Stewart I., Buono P.L., Collins J.J., A modular network for legged locomotion. Physica D. 115:1998;56-72.
14. Wilson D.M., Insect walking. Annual Review of Entomology. 11:1966;103-122.
15. M. Yano, M. Tokiwa, Y. Makino, Simultaneous self-organization of optimal gait pattern of insect and trajectory to its destination, in: Proceedings of the Fourth IFAC Symposium on Intelligent Autonomous Vehicles, 2001, pp. 261-264.
16. Ito S., Yuasa H., Ito M., An adaptation theory in autonomous decentralized systems. Transactions of the Society of Instrument and Control Engineers. 35(5):1999;684-692. (in Japanese).
17. Kimura H., Akiyama S., Sakurama K., Realization of dynamic walking and running of the quadruped using neural oscillator. Autonomous Robots. 7(3):1999;247-258.