Self-organisation of gait pattern transition - an efficient approach to implementing animal gaits and gait transitions

Yang, Zhijun, Huo, Juan and Murray, Alan (2008) Self-organisation of gait pattern transition - an efficient approach to implementing animal gaits and gait transitions. In: Fifth International Conference on Informatics in Control, Automation and Robotics: Intelligent Control Systems and Optimization (ICINCO 2008), 11-15 May, 2008, Funchal, Madeira - Portugal.

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Abstract

As an engine of almost all life phenomena, the motor information generated by the central nervous system (CNS) plays a critical role in the activities of all animals. Despite the difficulty of being physically identified, the central pattern generator (CPG), which is a concrete branch of studies on the CNS, is widely recognised to be responsible for generating rhythmic patterns. This paper presents a novel, macroscopic and model-independent approach to the retrieval of different patterns of coupled neural oscillations observed in biological CPGs during the control of legged locomotion. Based on the simple graph dynamics, various types of oscillatory building blocks (OBB) can be reconfigured for the production of complicated rhythmic patterns. Our quadrupedal locomotion experiments show that an OBB-based artificial CPG model alone can integrate all gait patterns and undergo self-organised gait transition between different patterns.

Item Type: Conference or Workshop Item (Paper)
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 9923
Useful Links:
Depositing User: Zhijun Yang
Date Deposited: 04 Feb 2013 04:48
Last Modified: 13 Oct 2016 14:25
URI: https://eprints.mdx.ac.uk/id/eprint/9923

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