International Journal of Advanced Robotic Systems, 2017 Although quite a few central pattern generator controllers have been developed to regulate the locomotion of terrestrial bionic robots, few studies have been conducted on the central pattern generator control technique for amphibious robots crawling on ...
Gang Wang, Xi Chen, Shi-Kai Han
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International Journal of Advanced Robotic Systems, 2017 Snake-like robots can perform various types of locomotion in the complex environments. In this article, a novel two-layered central pattern generator-based controller is proposed for controlling snake-like robots.
Guifang Qiao +4 more
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Hierarchical reinforcement learning with central pattern generator for enabling a quadruped robot simulator to walk on a variety of terrains [PDF]
Scientific ReportsWe present a data-driven deep reinforcement learning (DRL) method for the optimization of a hierarchically structured control policy that includes the central pattern generator.
Toshiki Watanabe +9 more
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Synaptic connectivity amongst components of the locomotor central pattern generator [PDF]
Frontiers in Neural Circuits, 2022 In the past two decades we have learned an enormous amount of information regarding the identity of functional components of the neural circuitry responsible for generating locomotor activity in mammals.
Simon Gosgnach
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Self-Learning Event Mistiming Detector Based on Central Pattern Generator [PDF]
Frontiers in Neurorobotics, 2021 A repetitive movement pattern of many animals, a gait, is controlled by the Central Pattern Generator (CPG), providing rhythmic control synchronous to the sensed environment.
Rudolf Szadkowski +2 more
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Behavioral evidence for nested central pattern generator control of Drosophila grooming [PDF]
eLife, 2021 Central pattern generators (CPGs) are neurons or neural circuits that produce periodic output without requiring patterned input. More complex behaviors can be assembled from simpler subroutines, and nested CPGs have been proposed to coordinate their ...
Primoz Ravbar +2 more
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The Hemodynamic Mass Action of a Central Pattern Generator [PDF]
Frontiers in Neuroscience, 2020 The hemodynamic response is a neurovascular and metabolic process in which there is rapid delivery of blood flow to a neuronal tissue in response to neuronal activation.
Mayra Moreno-Castillo +8 more
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Memristive circuit-based model of central pattern generator to reproduce spinal neuronal activity in walking pattern [PDF]
Frontiers in Neuroscience, 2023 Existing methods of neurorehabilitation include invasive or non-invasive stimulators that are usually simple digital generators with manually set parameters like pulse width, period, burst duration, and frequency of stimulation series. An obvious lack of
Dinar N. Masaev +15 more
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Central pattern generator–based coupling control method for synchronously controlling the two-degrees-of-freedom robot [PDF]
Science Progress, 2020 Synchronous control is a fundamental and significant problem for controlling a multi-joint robot. In this article, by applying two coupled Rayleigh oscillators as the referred central pattern generator models for the two joints of a two-degrees-of ...
Qiang Fu +3 more
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A central pattern generator approach to footstep transition for biped navigation
International Journal of Advanced Robotic Systems, 2017 Existing sampling-based footstep planning method for biped navigation used an intermediate static posture for footstep transition. However, when adopting this approach, the robot is sensitive to modeling error and external environments, and also the ...
Zeyang Xia +5 more
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