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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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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Driving respiration: The respiratory central pattern generator
Clinical and Experimental Pharmacology and Physiology, 1998 1, The central pattern generator (CPG) for respiration is located in the brainstem and produces rhythmic synaptic drive for motoneurons controlling respiratory muscles. Based on respiratory nerve discharge, the respiratory cycle can be divided into three
Bellingham, MC
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Potential role of a ventral nerve cord central pattern generator in forward and backward locomotion in Caenorhabditis elegans [PDF]
Network Neuroscience, 2018 C. elegans locomotes in an undulatory fashion, generating thrust by propagating dorsoventral bends along its body. Although central pattern generators (CPGs) are typically involved in animal locomotion, their presence in C.
Erick O. Olivares +2 more
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Motion Control of a Gecko-like Robot Based on a Central Pattern Generator [PDF]
Sensors, 2021 Tiancheng Li
exaly +2 more sources
The Importance of Central Pattern Generator in Simulation of Human Gait
Frontiers in Biomedical Technologies, 2021 No ...
Fereidoun Nowshiravan Rahatabad +1 more
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eLife, 2021 The expression of motivated behaviors depends on both external and internally arising neural stimuli, yet the intrinsic releasing mechanisms for such variably occurring behaviors remain elusive. In isolated nervous system preparations of Aplysia, we have
Alexis Bédécarrats +5 more
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Rethinking central pattern generators: A general approach [PDF]
Neurocomputing, 2000 Abstract Central pattern generators (CPGs) have traditionally been modeled as sets of coupled bistable oscillators (Marder and Calabrese, Physiol. Rev. 76(3) (1996) 687–717). We present a framework for constructing models which avoid the shortcomings of these traditional models, while remaining biologically plausible.
Chris Eliasmith, Charles H. Anderson
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The generation of antiphase oscillations and synchrony by a rebound-based vertebrate central pattern generator [PDF]
, 2014 Many neural circuits are capable of generating multiple stereotyped outputs after different sensory inputs or neuromodulation.We have previously identified the central pattern generator (CPG) forXenopustadpole swimming that involves antiphase ...
Borisyuk, R +7 more
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Symmetry-breaking in a rate model for a biped locomotion central pattern generator [PDF]
, 2014 The timing patterns of animal gaits are produced by a network of spinal neurons called a Central Pattern Generator (CPG). Pinto and Golubitsky studied a four-node CPG for biped dynamics in which each leg is associated with one flexor node and one ...
Ian Stewart, Stewart, Ian
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