Design, implementation and analysis of an alternation-based Central Pattern Generator for multidimensional trajectory generation

Authors:
Mostafa Ajallooeian;Majid Nili Ahmadabadi;Babak Nadjar Araabi;Hadi Moradi
Affiliations:
Cognitive Robotics Lab., Control and Intelligent Processing Center of Excellence, School of ECE., Faculty of Eng., University of Tehran, Iran;Cognitive Robotics Lab., Control and Intelligent Processing Center of Excellence, School of ECE., Faculty of Eng., University of Tehran, Iran and School of Cognitive Sciences, Institute for Resear ...;Cognitive Robotics Lab., Control and Intelligent Processing Center of Excellence, School of ECE., Faculty of Eng., University of Tehran, Iran and School of Cognitive Sciences, Institute for Resear ...;Cognitive Robotics Lab., Control and Intelligent Processing Center of Excellence, School of ECE., Faculty of Eng., University of Tehran, Iran
Venue:
Robotics and Autonomous Systems
Year:
2012

Citing 9
Cited 0

Phase coupling in simulated chains of coupled oscillators representing the lamprey spinal cord

Neural Computation
Neural Networks: A Comprehensive Foundation

Neural Networks: A Comprehensive Foundation
Modular Reactive Neurocontrol for Biologically Inspired Walking Machines

International Journal of Robotics Research
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts

International Journal of Robotics Research
Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization

International Journal of Robotics Research
Controlling swimming and crawling in a fish robot using a central pattern generator

Autonomous Robots
2008 Special Issue: Central pattern generators for locomotion control in animals and robots: A review

Neural Networks
An imitation model based on central pattern generator with application in robotic marionette behavior learning

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An adaptive, self-organizing dynamical system for hierarchical control of bio-inspired locomotion

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, we introduce a multidimensional Central Pattern Generator (CPG) model with an explicit and defined basin of attraction for generating any arbitrary continuous periodic signal. Having a defined basin of attraction is highly desired, especially in robotic applications, as it provides tracking stability in addition to robustness against disturbances. The CPG model is composed of a set of phase-locked coordinated one-dimensional models; called @z-models. The idea behind the @z-model is generating any one-dimensional periodic signal by altering the behavior of an existing oscillator through two nonlinear maps. The mappings are designed in such a way that the Poincare-Bendixson theorem is satisfied and, consequently, the desired basin of attraction is shaped. The proposed CPG model is extensively tested for generating multidimensional signals; including DC, triangular, and smooth wavy ones. The results show that the CPG model has a low tracking error in addition to being robust against disturbances within the designed basin of attraction. Finally, the proposed CPG model is successfully employed to generate the dancing motion of a situated robotic marionette.