Building artificial CPGs with asymmetric Hopfield networks

Franca, Felipe M.G. and Yang, Zhijun (2000) Building artificial CPGs with asymmetric Hopfield networks. In: The IEEE-INNS-ENNS International Joint Conference on Neural Networks (IJCNN 2000), 24-27 July 2000, Como, Italy.

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Abstract

This paper presents a novel approach to the emulation of locomotor central pattern generators (CPGs) of legged animals. Based on Scheduling by Multiple Edge Reversal (SMER), a simple but powerful distributed algorithm, it is shown how oscillatory building blocks (OBBs) can be created and how OBB-based networks can be implemented as asymmetric Hopfield-like neural networks for the generation of complicatedly coordinated rhythmic patterns observed among pairs of biological motor neurons working during different gait patterns. It is also presented how a generalized CPG model mapped into such Hopfield-like networks possess some charming properties on the retrieval of a whole range of different preprogrammed gait patterns.

Item Type: Conference or Workshop Item (Paper)
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 9927
Useful Links:
Depositing User: Zhijun Yang
Date Deposited: 05 Feb 2013 06:27
Last Modified: 13 Oct 2016 14:25
URI: http://eprints.mdx.ac.uk/id/eprint/9927

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