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Modelling Walking Behaviors Based on CPGs: A Simplified Bio-inspired Architecture
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre.ORCID iD: 0000-0002-7236-997X
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre.
University of Skövde, School of Humanities and Informatics. University of Skövde, The Informatics Research Centre.ORCID iD: 0000-0001-6883-2450
2012 (English)In: 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, p. 156-166Conference paper, Published paper (Refereed)
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).

Place, publisher, year, edition, pages
Berlin, Heidelberg: Springer Berlin/Heidelberg, 2012. p. 156-166
Series
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), ISSN 0302-9743 ; 7426 LNAI
Keyword [en]
CPGs, the NAO robot, Interneuron, Motorneuron
National Category
Computer Sciences
Research subject
Technology
Identifiers
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
Conference
12th International Conference on Simulation of Adaptive Behavior, SAB 2012, Odense, Denmark, August 27-30, 2012
Available from: 2012-10-31 Created: 2012-10-31 Last updated: 2018-01-12Bibliographically approved

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Li, CaiLowe, RobertZiemke, Tom

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