A modular network for legged locomotion
Physica D
Elements of applied bifurcation theory (2nd ed.)
Elements of applied bifurcation theory (2nd ed.)
Neural control of rhythmic arm movements
Neural Networks - Special issue on neural control and robotics: biology and technology
Bifurcation and stability analysis in musculoskeletal systems: a study in human stance
Biological Cybernetics
Coupling the neural and physical dynamics in rhythmic movements
Neural Computation
Control of underactuated undulatory locomotor exploiting anti-resonance: a case study
ACC'09 Proceedings of the 2009 conference on American Control Conference
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Humans show great energy efficiency and robustness in rhythmic tasks, such as walking and arm swinging. In this study a mathematical model of rhythmic limb movement is presented, which shows that tight local coupling of Central Pattern Generators (CPGs) to limbs could explain part of this behavior. Afferent feedback to flexor and extensor centers of the CPG is crucial in providing energy efficiency by means of resonance tuning. Feedback of positional information provides resonance tuning above the endogenous frequency of the CPG. Integral feedback provides resonance tuning at and below the endogenous frequency. Feedback of velocity information is necessary to compensate for the time delay in the loop, coupling limb to CPG; without velocity feedback bi-stability occurs and resonance tuning is not possible at high movement frequencies. The concepts of energy efficient and robust control of rhythmic limb movements are also applicable to robotics. It is the first CPG model, which provides resonance tuning at natural limb frequencies above and below its endogenous frequency.