Prescription of rhythmic patterns for legged locomotion
Article
Yang, Z., Zhang, D., Rocha, M., Lima, P., Karamanoglu, M. and Franca, F. 2017. Prescription of rhythmic patterns for legged locomotion. Neural Computing and Applications. 28 (11), pp. 3587-3601. https://doi.org/10.1007/s00521-016-2237-4
Type | Article |
---|---|
Title | Prescription of rhythmic patterns for legged locomotion |
Authors | Yang, Z., Zhang, D., Rocha, M., Lima, P., Karamanoglu, M. and Franca, F. |
Abstract | As the engine behind many life phenomena, motor information generated by the central nervous system (CNS) plays a critical role in the activities of all animals. In this work, a novel, macroscopic and model-independent approach is presented for creating different patterns of coupled neural oscillations observed in biological central pattern generators (CPG) during the control of legged locomotion. Based on a simple distributed state machine, which consists of two nodes sharing pre-defined number of resources, the concept of oscillatory building blocks (OBBs) is summarised for the production of elaborated rhythmic patterns. Various types of OBBs can be designed to construct a motion joint of one degree-of-freedom (DOF) with adjustable oscillatory frequencies and duty cycles. An OBBs network can thus be potentially built to generate a full range of locomotion patterns of a legged animal with controlled transitions between different rhythmic patterns. It is shown that gait pattern transition can be achieved by simply changing a single parameter of an OBB module. Essentially this simple mechanism allows for the consolidation of a methodology for the construction of artificial CPG architectures behaving as an asymmetric Hopfield neural network. Moreover, the proposed CPG model introduced here is amenable to analogue and/or digital circuit integration. |
Keywords | Central pattern generator; Oscillatory building blocks; Legged locomotion; Parallel processing systems |
Publisher | Springer |
Journal | Neural Computing and Applications |
ISSN | 0941-0643 |
Electronic | 1433-3058 |
Publication dates | |
Online | 16 Mar 2016 |
30 Nov 2017 | |
Publication process dates | |
Deposited | 08 Apr 2016 |
Accepted | 16 Feb 2016 |
Submitted | 23 Jul 2015 |
Output status | Published |
Accepted author manuscript | |
Copyright Statement | This version of the article has been accepted for publication, after peer review and is subject to Springer Nature’s AM terms of use https://www.springernature.com/gp/open-research/policies/accepted-ma... , but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: http://dx.doi.org/10.1007/s00521-016-2237-4 |
Digital Object Identifier (DOI) | https://doi.org/10.1007/s00521-016-2237-4 |
Web of Science identifier | WOS:000412313900035 |
Language | English |
https://repository.mdx.ac.uk/item/8633v
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