Abstract
This paper considers an adaptation of rhythmic movements to changes in environments. Perturbed locomotion has been proposed as a new paradigm of motion learning. Here, we formulate this phenomenon with CPG model and give a rule for parameter changing in locomotion patterns. Our rule is derived from a criterion that less interaction is more natural in CPG oscillation. Then extending our approach, we discuss general features and necessary conditions for rhythmic motion and propose a mathematical framework for its adaptation.
