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Figure 1: Central pattern generator in described via coupled oscillators.
Central Pattern Generator
Central Pattern Generator
Definition: Central pattern generators (CPGs) are neural networks capable of producing coordinated patterns of rhythmic activity without any rhythmic inputs from sensory feedback or from higher control centers. [1]
A hardware implementation of CPG: Central Pattern Generator as a part of the Electronic control loop. This frame work has been used in Stoch.
Figure 2: Central pattern Generator as a part of robot framework
Differential equation based CPG
Differential equation based CPG
References:
References:
[1] A. J. Ijspeert, “Central pattern generators for locomotion control in animals and robots: a review,”Neural networks, vol. 21, no. 4, pp. 642–653, 2008.
[2] A. T. Sprowitz, A. Tuleu, M. Ajaoolleian, M. Vespignani, R. Moeckel, P. Eckert, M. D’Haene, J. Degrave, A. Nordmann, B. Schrauwen et al., “Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs,” Frontiers in Robotics and AI, vol. 5, p. 67, 2018
[3] A. T. Sprowitz, A. Tuleu, A. J. Ijspeert et al., “Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs,” Frontiers in computational neuroscience , vol. 8, p. 27, 2014.
[2] A. T. Sprowitz, A. Tuleu, M. Ajaoolleian, M. Vespignani, R. Moeckel, P. Eckert, M. D’Haene, J. Degrave, A. Nordmann, B. Schrauwen et al., “Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs,” Frontiers in Robotics and AI, vol. 5, p. 67, 2018
[3] A. T. Sprowitz, A. Tuleu, A. J. Ijspeert et al., “Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs,” Frontiers in computational neuroscience , vol. 8, p. 27, 2014.
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