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Modelling Walking Behaviors Based on CPGs: A Simplified Bio-inspired Architecture
Högskolan i Skövde, Institutionen för kommunikation och information. Högskolan i Skövde, Forskningscentrum för Informationsteknologi.ORCID-id: 0000-0002-7236-997X
Högskolan i Skövde, Institutionen för kommunikation och information. Högskolan i Skövde, Forskningscentrum för Informationsteknologi.
Högskolan i Skövde, Institutionen för kommunikation och information. Högskolan i Skövde, Forskningscentrum för Informationsteknologi.ORCID-id: 0000-0001-6883-2450
2012 (engelsk)Inngår i: From Animals to Animats 12: 12th International Conference on Simulation of Adaptive Behavior, SAB 2012Odense, Denamark, August 27-30, 2012 / [ed] Tom Ziemke, Christian Balkenius, John Hallam, Berlin, Heidelberg: Springer Berlin/Heidelberg, 2012, s. 156-166Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this article, we use a recurrent neural network including four-cell core architecture to model the walking gait and implement it with the simulated and physical NAO robot. Meanwhile, inspired by the biological CPG models, we propose a simplified CPG model which comprises motorneurons, interneurons, sensor neurons and the simplified spinal cord. Within this model, the CPGs do not directly output trajectories to the servo motors. Instead, they only work to maintain the phase relation among ipsilateral and contralateral limbs. The final output is dependent on the integration of CPG signals, outputs of interneurons, motor neurons and sensor neurons (sensory feedback).

sted, utgiver, år, opplag, sider
Berlin, Heidelberg: Springer Berlin/Heidelberg, 2012. s. 156-166
Serie
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), ISSN 0302-9743 ; 7426 LNAI
Emneord [en]
CPGs, the NAO robot, Interneuron, Motorneuron
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URN: urn:nbn:se:his:diva-6591DOI: 10.1007/978-3-642-33093-3_16Scopus ID: 2-s2.0-84866033575ISBN: 978-3-642-33092-6 ISBN: 978-3-642-33093-3 OAI: oai:DiVA.org:his-6591DiVA, id: diva2:563915
Konferanse
12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, August 27-30, 2012
Tilgjengelig fra: 2012-10-31 Laget: 2012-10-31 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Li, CaiLowe, RobertZiemke, Tom

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