A legged central pattern generation model for autonomous gait transition

Conference paper

Yang, Z., Rocha, M., Lima, P., Karamanoglu, M. and Franca, F. 2014. A legged central pattern generation model for autonomous gait transition. 2014 IEEE International Joint Conference on Neural Networks (IJCNN). Beijing, China 06 - 11 Jul 2014 IEEE. pp. 1992-1995 https://doi.org/10.1109/IJCNN.2014.6889779
TypeConference paper
TitleA legged central pattern generation model for autonomous gait transition
AuthorsYang, Z., Rocha, M., Lima, P., Karamanoglu, M. and Franca, F.
Abstract

In this work, a generalized central pattern generator (CPG) model is formulated to generate a full range of gait patterns for a hexapod insect. To this end, a recurrent neural network module, as the building block for rhythmic patterns, is proposed to extend the concept of oscillatory building blocks (OBB) for constructing a CPG model. The model is able to make transitions between different gait patterns by simply adjusting one model parameter. Simulation results are further presented to show the effectiveness and performance
of the CPG network.

KeywordsNeurons; Mathematical model; Oscillators; Joints ; Biological system modeling; Legged locomotion; Generators
Conference2014 IEEE International Joint Conference on Neural Networks (IJCNN)
Page range1992-1995
Proceedings Title2014 International Joint Conference on Neural Networks (IJCNN)
SeriesIEEE International Joint Conference on Neural Networks (IJCNN)
ISSN2161-4393
Electronic2161-4407
ISBN
Electronic9781479914845
PublisherIEEE
Publication dates
Print31 Jul 2014
Online04 Sep 2014
Publication process dates
Deposited28 May 2015
CompletedJul 2014
Output statusPublished
Publisher's version
File Access Level
Restricted
Copyright Statement

Access to full text restricted pending copyright check.

Web address (URL)http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6889779
Digital Object Identifier (DOI)https://doi.org/10.1109/IJCNN.2014.6889779
Web of Science identifierWOS:000371465702013
LanguageEnglish
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Odedra, S., Prior, S., Karamanoglu, M. and Shen, S. 2009. Increasing the trafficability of unmanned ground vehicles through intelligent morphing. Dai, J., Zoppi, M. and Kong, X. (ed.) International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009. London, UK 22 - 24 Jun 2009 IEEE. pp. 665-672
Using acoustic sensor technologies to create a more terrain capable unmanned ground vehicle
Odedra, S., Prior, S., Karamanoglu, M., Erbil, M. and Shen, S. 2009. Using acoustic sensor technologies to create a more terrain capable unmanned ground vehicle. Harris, D. (ed.) 8th International Conference on Engineering Psychology and Cognitive Ergonomics (EPCE). San Diego, CA, USA 19 - 24 Jul 2009 Berlin, Heidelberg Springer. https://doi.org/10.1007/978-3-642-02728-4_61
Development of a novel platform for greater situational awareness in the urban military terrain
Prior, S., Shen, S-T., White, A.S., Odedra, S., Karamanoglu, M., Erbil, M. and Foran, T. 2009. Development of a novel platform for greater situational awareness in the urban military terrain. Harris, D. (ed.) 8th International Conference on Engineering Psychology and Cognitive Ergonomics (EPCE). San Diego, CA, USA 19 - 24 Jul 2009 Berlin Springer. pp. 120-125 https://doi.org/10.1007/978-3-642-02728-4_13
Designing for co-design: using the product envelope model as a framework for reflection.
Bardill, A., Herd, K. and Karamanoglu, M. 2007. Designing for co-design: using the product envelope model as a framework for reflection. Proceedings of the World Conference on Mass Customization & Personalization (MCPC), Innovation and Research Conference. Cambridge/Boston, MA, USA 07 - 10 Oct 2007
Product envelopes: designing positive interplay between brand DNA and customer co-designers
Bardill, A., Herd, K. and Karamanoglu, M. 2007. Product envelopes: designing positive interplay between brand DNA and customer co-designers. International Journal of Mass Customization. 2 (1/2), pp. 57-75. https://doi.org/10.1504/IJMASSC.2007.012813
Product design as a vehicle to integrate arts and sciences in design education
Karamanoglu, M., Bardill, A. and Prior, S. 2007. Product design as a vehicle to integrate arts and sciences in design education. in: Proceedings of the International Association of Societies of Design Research, Emerging Trends in Design Research, 12-15 November 2007, Hong Kong International Association of Societies of Design Research, Emerging Trends in Design Research.
A general rhythmic pattern generation architecture for legged locomotion
Yang, Z. and Franca, F. 2008. A general rhythmic pattern generation architecture for legged locomotion. in: Pazos, A., Sierra, A. and Buceta, W. (ed.) Advancing Artificial Intelligence through Biological Process Applications New York IGI Global.
Implementing an artificial centipede CPG: integrating appendicular and axial movements of the scolopendromorph centipede
Braga, R., Yang, Z. and Franca, F. 2008. Implementing an artificial centipede CPG: integrating appendicular and axial movements of the scolopendromorph centipede. International Conference on Bio-inspired Systems and Signal Processing. Funchal, Madeira, Portugal 28 - 31 Jan 2008 SCITEPRESS - Science and Technology Publications. pp. 58-62 https://doi.org/10.5220/0001069800580062
Blending arts and sciences: gimmick or necessity?
Prior, S., Karamanoglu, M. and Bradley, M.D. 2008. Blending arts and sciences: gimmick or necessity? in: Proceedings of the higher education academy international conference on innovation, good practice and research in engineering education conference. Loughborough The higher education academy, engineering subject centre. pp. 1-12
Towards solving the mobility issues of unmanned ground vehicles.
Karamanoglu, M., Odedra, S. and Prior, S. 2007. Towards solving the mobility issues of unmanned ground vehicles. Gerhart, G., Gage, D. and Shoemaker, C. (ed.) Defence and Security Symposium. Orlando, Florida, United States 09 - 13 Apr 2007 Society of Photo-optical Instrumentation Engineers (SPIE). https://doi.org/10.1117/12.721495
Comparing the personality type of design students in the UK and Taiwan
Prior, S., Shen, S., White, A.S. and Karamanoglu, M. 2007. Comparing the personality type of design students in the UK and Taiwan. Dainoff, M. (ed.) Ergonomics and health aspects of work with computers: International Conference, EHAWC 2007, Held as Part of HCI International Conference. Beijing, China,
Control of Ship capsize in stern quartering seas
White, A.S., Gleeson, P. and Karamanoglu, M. 2007. Control of Ship capsize in stern quartering seas. International Journal of Simulation, Systems, Science & Technology. 8 (2), pp. 20-31.
Using personality type differences to form engineering design teams
Shen, S., Prior, S., White, A.S. and Karamanoglu, M. 2007. Using personality type differences to form engineering design teams. Engineering Education. 2 (2), pp. 54-66.
Improving the mobility performance of autonomous unmanned ground vehicles by adding the ability to 'Sense/Feel' their local environment.
Karamanoglu, M., Odedra, S. and Prior, S. 2007. Improving the mobility performance of autonomous unmanned ground vehicles by adding the ability to 'Sense/Feel' their local environment. in: Shumaker, R. (ed.) Virtual Reality - Second International Conference, ICVR 2007, Held as Part of HCI International 2007, Beijing, China, July 22-27, 2007 Springer.
An artificial early visual model adopting spike-timing-dependent plasticity
Yang, Z. and Murray, A. 2006. An artificial early visual model adopting spike-timing-dependent plasticity. Neurocomputing. 69 (16-18), pp. 1904-1911. https://doi.org/10.1016/j.neucom.2005.11.017
An adaptive visual neuronal model implementing competitive, temporally asymmetric Hebbian learning
Yang, Z., Cameron, K., Murray, A. and Boonsobhak, V. 2006. An adaptive visual neuronal model implementing competitive, temporally asymmetric Hebbian learning. International Journal of Neural Systems. 16 (3), pp. 151-162. https://doi.org/10.1142/S0129065706000573
Pleasure-based design approaches to the built environment
Bardill, A., Karamanoglu, M. and Herd, K. 2005. Pleasure-based design approaches to the built environment. Proceedings of the Institution of Civil Engineers - Municipal Engineer. 158 (3), pp. 183-193. https://doi.org/10.1680/muen.2005.158.3.183
A probabilistic neural network as the predictive classifier of out-of-hospital defibrillation outcomes
Yang, Z., Yang, Z., Lu, W., Harrison, R., Eftestol, T. and Steen, P. 2005. A probabilistic neural network as the predictive classifier of out-of-hospital defibrillation outcomes. Resuscitation. 64 (1), pp. 31-36. https://doi.org/10.1016/j.resuscitation.2004.07.002
Building artificial CPGs with asymmetric Hopfield networks
Franca, F. and Yang, Z. 2000. Building artificial CPGs with asymmetric Hopfield networks. The IEEE-INNS-ENNS International Joint Conference on Neural Networks (IJCNN 2000). Como, Italy 24 - 27 Jul 2000
Modelling the response of masonry structures to gas explosions
Wong, C. and Karamanoglu, M. 1999. Modelling the response of masonry structures to gas explosions. Journal of Loss Prevention in the Process Industries. 12 (3), pp. 199-205. https://doi.org/10.1016/S0950-4230(98)00058-8
Generating arbitrary rhythmic patterns with purely inhibitory neural networks
Yang, Z. and Franca, F. 1998. Generating arbitrary rhythmic patterns with purely inhibitory neural networks. in: Verleysen, M. (ed.) ESANN'1998 proceedings - 6th European symposium on artificial neural networks (Bruges, 22-23-24 April 1998) D facto. pp. 53-58