Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2008.4681412
Title: Coordination in CPG and its application on bipedal walking
Authors: Huang, W.
Chew, C.-M. 
Hong, G.-S. 
Keywords: Bipedal walking
Coordination
CPG
Neural oscillator
Issue Date: 2008
Source: Huang, W.,Chew, C.-M.,Hong, G.-S. (2008). Coordination in CPG and its application on bipedal walking. 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 : 450-455. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2008.4681412
Abstract: Research of bipedal walking has been motivated by its great flexible in rough terrain walking, as well as its benefits to prosthesis development. This paper aims to achieve coordination of central pattern generator (CPG) and asymptotically stable walking behavior. CPG is always referred as several oscillators with coupled mutual inhibition. In this paper, the oscillator model proposed by Matsuoka was used. We use output difference between two oscillators as the feedback to adjust the output of the target oscillator. Further exploration achieves to coordinate multiple oscillators with different frequencies. To verify the method, we demonstrate a 3D robust walking controlled by a simple CPG structure with several oscillators. © 2008 IEEE.
Source Title: 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
URI: http://scholarbank.nus.edu.sg/handle/10635/73288
ISBN: 9781424416769
DOI: 10.1109/RAMECH.2008.4681412
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