NDLI: Locomotion of a quadruped robot using CPG

Content Provider	IEEE Xplore Digital Library
Author	Ishii, T. Masakado, S. Ishii, K.
Copyright Year	2004
Description	Author affiliation: Dept. of Brain Sci. & Eng., Kyushu Inst. of Technol., Fukuoka, Japan (Ishii, T.; Masakado, S.; Ishii, K.)
Abstract	It is well known that the rhythm generator mechanism called central pattern generator (CPG) controls rhythmic activities, such as locomotion, respiration, heart beat, etc. in biological systems, and various neuron models are proposed. The CPG has attractive features such that (i) it generates periodical signals persistently, (ii) return to the original oscillation if disturbances are removed, (iii) the mathematical conditions for oscillation are proved, and so on. A CPG network, which consists of the Matsuoka model neurons, is introduced to realize the locomotion of a quadruped walking robot and the response to disturbances is discussed. The outputs of neurons are utilized as the target angles of corresponding joints and the efficiency of the proposed method is examined through experiments with a quadruped walking robot.
Starting Page	3179
Ending Page	3184
File Size	445650
Page Count	6
File Format	PDF
ISBN	0780383591
ISSN	10987576
DOI	10.1109/IJCNN.2004.1381184
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-07-25
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Legged locomotion Neurons Biological system modeling Rhythm Centralized control Biological control systems Heart beat Biological systems Signal generators
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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