Theoretical analysis on neural oscillator toward biomimic robot control

International Journal of Humanoid Robotics

Volumn 4, Issue 4, 2007, Pages 697-715

  Zhang, Dingguo ^a   Zhu, Kuanyi ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Central pattern generator; Describing function; Neural oscillator; Oscillation; Piecewise linear analysis; Stability

Indexed keywords

ANTHROPOMORPHIC ROBOTS; CONTROL SYSTEM SYNTHESIS; NEUROLOGY; PIECEWISE LINEAR TECHNIQUES; SYSTEM STABILITY;

BIOMIMIC ROBOT CONTROL; CENTRAL PATTENR GENERATOR (CPG); NEURAL OSCILLATOR; RHYTHMIC MOVEMENT CONTROLS;

BIOMIMETICS;

EID: 38749122136     PISSN: 02198436     EISSN: None     Source Type: Journal    
DOI: 10.1142/S0219843607001229     Document Type: Article

References (32)

1. A. M. Arsenio, Tuning of neural oscillators for the design of rhythmic motions, in Proc. IEEE Int. Conf. Robotics & Automation, San Francisco (2000).
2. A. M. Arsenio, On stability and tuning of neural oscillators: Application to rhythmic control of a humanoid robot, IEEE Int. Joint Conf. Neural Networks (IJCNN), Budapest (2004).
3. K. J. Aström, Oscillations in systems with relay feedback, Adaptive Control, Filtering, Signal Process. 74 (1995) 1-25.
4. J. S. Bay and H. Hemami, Modeling of a neural pattern generator with coupled nonlinear oscillators, IEEE Biomed. Eng. 34 (1987) 297-306.
5. A. Billard and A. J. Ijspeert, Biologically inspired neural controllers for motor control in a quadruped robot, IEEE Int. Joint Conf. Neural Networks IJCNN) (2000), pp. 637-641.
6. Ö. Ekeberg, A combined neuronal and mechanical model of fish swimming. Biol. Cybern. 69 (1993) 363-374.
7. G. Endo, J. Morimoto, J. Nakanishi and G. Cheng, An empirical exploration of a neural oscillator for biped locomotion control, in Proc. IEEE Int. Conf. Robotics Automation, New Orleans (2004).
8. M. Frasca, P. Arena and L. Fortuna, Bio-Inspired Emergent Control of Locomotion Systems (World Science, 2004).
9. R. M. Ghigliazza and P. Holmes, A minimal model of a central pattern generator and motoneurons for insect locomotion, SIAM J. Appl. Dynam. Syst. 3(4) (2004) 671-700.
10. J. M. Goncalves, Regions of stability for limit cycles of piecewise linear system, IEEE Conf. Decision Control, December, Maui, Hawaii (2003).
11. S. Grillner, L. Cangiano, G. Y. Hu, R. Thompson, R. Hill and P. Wallen, The intrinsic function of a motor system-from ion channels to networks and behavior, Brain Res. 886 (2000) 224-236.
12. F. C. Hoppensteadt and E. M. Izhikevich, Weakly Connected Neural Networks (Springer, 1997).
13. J. J. Hu, M. M. William and G. A. Pratt, Bipedal locomotion control with rhythmic oscillators, in Proc. Int. Conf. Intelligent Robots Systems (1999), pp. 1475-1481.
14. A. J. Ijspeert, J. Hallam and D. Willshaw, Evolving swimming controllers for a simulated lamprey with inspiration from neurobiology, Adaptive Behav. 7 (1999) 151-172.
15. A. Ishiguro, A. Fujii and P. E. Hotz, Neuromodulated control of bipedal using a polymorphic CPG circuit, Adaptive Behav. 11(1) (2003) 7-18.
16. M. A. Lewis, E. C. Ralph, M. J. Hartmann, Z. R. Xu and A. H. Cohen, An in silico central pattern generator: Silicon oscillator, coupling, entrainment, and physical computation, Biol. Cybern. 88 (2003) 137-151.
17. L. Liu, A. B. Wright and G. T. Anderson, Trajectory planning and control for a human-like robot leg with coupled neural-oscillators, in Proc. Mechatronics (2000).
18. W. Lohmiller and J. E. Slotine, On contraction analysis for nonlinear systems, Automatica 34(6) (1998) 683-696.
19. E. Marder and D. Bucher, Central pattern generators and the control of rhythmic movements, Curr. Biol. 11 (2001) 986-996.
20. K. Matsuoka, Sustained oscillations generated by mutually inhibiting neurons with adaption, Biol. Cybern. 52 (1985) 367-376.
21. J. Nakanishi, J. Morimoto, G. Endo, G. Cheng, S. Schaal and M. Kawato, Learning from demonstration and adaptation of biped locomotion, Robotics Anton. Syst. 47 (2004) 79-91.
22. N. Ogihara and N. Yamazaki, Generation of human bipedal locomotion by a biomimetic neuro-musculo-skeletal model, Biol. Cybern. 84 (2001) 1-11.
23. C. Paul, Bilateral decoupling in the neural control of biped locomotion, in Proc. Int. Symp. Adaptive Motion of Animals and Machines, Kyoto, Japan (2003).
24. J. E. Slotine, Modular stability tools for distributed computation and control, J. Adaptive Control Signal Process. 17(6) (2002) 397-416.
25. J. E. Slotine and W. Li, Applied Nonlinear Control (Prentice Hall, Englewood Cliff, NJ, 1991).
26. G. Taga, A model of the neuro-musculo-skeletal system for human locomotion I, II, Biol. Cybern. 73 (1995) 97-121.
27. W. Wang and J. E. Slotine, On partial contraction analysis for coupled nonlinear oscillators, Biol. Cybern. 92(1) (2004) 38-53.
28. M. M. Williamson, Neural control of rhythmic arm movements, Neural Networks 11 (1998) 1379-1394.
29. M. M. Williamson, Robot arm control exploiting natural dynamics, PhD thesis, MIT, USA, 1999.
30. D. G. Zhang and K. Y. Zhu, Model and control of the locomotion of a bio-mimic musculoskeletal biped, J. Artificial Life Robotics 10 (2006) 91-95.
31. D. G. Zhang and K. Y. Zhu, Modeling biological motor control for human locomotion with functional electrical stimulation, accepted, Biol. Cybern. 96 (2007) 79-97.
32. D. G. Zhang and K. Y. Zhu, Computer simulation study on central pattern generator: From biology to engineering, Int. J. Neural Syst. 16 6) (2006) 405-422.