A periodic motion pattern generation by recalling well-suited CPG parameters based on time-series observations

Toshiyuki Kondo; Takanori Somei; Koji Ito

doi:10.11499/sicep.2004.0_17_2

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_17_2

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

A periodic motion pattern generation by recalling well-suited CPG parameters based on time-series observations

Toshiyuki Kondo, *Takanori Somei, Koji Ito

Author information

Keywords: CPG, Motion control, Recurrent neural network

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 17

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Abstract

This paper proposes a periodic motion pattern generation model inspired by biological brain motor systems. In the proposed model, the Brain part can recognize several kinds of environmental changes through its proprioceptive feedback time-series stem from own action, and also it can modulate its motion pattern by recalling well-suited CPG parameters with respect to the current Body dynamics.

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