四足歩行運動パターンを生成・移行可能なパルス形ハードウェアCPGモデル [in Japanese] A Pulse-Type Hardware CPG Model for Generation and Transition of Quadruped Locomotion Pattern [in Japanese]
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The purpose of our research is to clarify information processing functions of living organisms by neural networks using pulse-type hardware neuron models and applying pulse-type hardware neural networks to engineered models. It is known that locomotion such as walking by a living organism is generated and transited by CPG (Central Pattern Generator) in the central nervous system. We investigate a pulse-type hardware CPG model using coupled oscillator composed of pulse-type hardware neuron models. A CPG model is need to generate and control quadruped locomotion. In this paper, we describe generation and transition of oscillation patterns, corresponding to quadruped locomotion patterns. As a result, it is shown that generation and transition of oscillation patterns are possible by giving external inputs of one pulse to the CPG model.
- IEEJ Transactions on Electronics, Information and Systems
IEEJ Transactions on Electronics, Information and Systems 127(1), 52-58, 2007-01-01
The Institute of Electrical Engineers of Japan