SCIS & ISIS
SCIS & ISIS 2006
Session ID : TH-B2-4
Conference information

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 LiuKeigo WatanabeKiyotaka Izumi
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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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© 2006 Japan Society for Fuzzy Theory and Intelligent Informatics
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