The Parameter Design of Central Pattern Generators Composed of Some Matsuoka Oscillators for the Leg Movements of Human-like Robots

Guang Lei Liu; Keigo Watanabe; Kiyotaka Izumi

doi:10.14864/softscis.2006.0.24.0

SCIS & ISIS 2006

Session ID : TH-B2-4

DOI https://doi.org/10.14864/softscis.2006.0.24.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

TH-B2 Biomimetic Machines and Robots (1)

The Parameter Design of Central Pattern Generators Composed of Some Matsuoka Oscillators for the Leg Movements of Human-like Robots

*Guang Lei Liu, Keigo Watanabe, Kiyotaka Izumi

Author information

Keywords: Central pattern generator (CPG), Matsuoka oscillators, Walking pattern of human

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

For constructing a central pattern generator (CPG) for articulated robots, the Matsuoka oscillator is assumed here to be used as a fundamental oscillator. In particular, we discuss how to connect each oscillator to construct a stable CPG network, from the view point of the symmetry of the network, the inhibitory and/or the excitory connections, etc. Some CPG networks using such oscillators are designed for one leg model in a human-like robot.

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