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| Presentation | 2012-09-20 13:05 An Analog Circuit Design Controlling Quadruped Locomotion Patterns Yoshinobu Maeda, Masahito Kubota (Niigata Univ.), Yasuyuki Suzuki, Taishin Nomura (Osaka Univ.)  CAS2012-31 NLP2012-57 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | A rhythmic motion such as a locomotion is generated by the central pattern generator, or the CPG. Rybak et al. (2006) proposed a mathematical model using the Hodgkin-Huxley type equations to explain the experimental results. Their model was composed of reciprocally inhibited neural networks to activate alternating behaviors of agonist and antagonist muscles. We have constructed a hardware CPG model reproducing the mathematical CPG model proposed by Rybak et al. In order to apply the hardware CPG model to locomotion of industrial robots, it is necessary to add another circuit system onto the upper level to control all the hardware CPG models that manipulate the motion of the particular leg. For example, we need to reproduce rhythmic motion (gait), such as walk, trot, pace, gallop, and bound, to reproduce locomotion of four-leg animals in the robot. In this technical report, we designed a circuit network to control the activation of CPGs, and investigated the gait using the SPICE simulation. Furthermore, we showed that only the one parameter, which was the amplitude of the signal sent from the midbrain locomotor region (MLR), could change the gait. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Central pattern generator / Gait / Negative resistance / Limit cycle / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 112, no. 204, CAS2012-31, pp. 7-12, Sept. 2012. | |
| Paper # | CAS2012-31 | |
| Date of Issue | 2012-09-13 (CAS, NLP) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | CAS2012-31 NLP2012-57 |
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| Conference Information | |
| Committee | NLP CAS |
| Conference Date | 2012-09-20 - 2012-09-21 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Eikokuji Campus, University of Kochi |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | General |
| Paper Information | |
| Registration To | CAS |
| Conference Code | 2012-09-NLP-CAS |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | An Analog Circuit Design Controlling Quadruped Locomotion Patterns |
| Sub Title (in English) | |
| Keyword(1) | Central pattern generator |
| Keyword(2) | Gait |
| Keyword(3) | Negative resistance |
| Keyword(4) | Limit cycle |
| Keyword(5) | |
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| 1st Author's Name | Yoshinobu Maeda |
| 1st Author's Affiliation | Niigata University (Niigata Univ.) |
| 2nd Author's Name | Masahito Kubota |
| 2nd Author's Affiliation | Niigata University (Niigata Univ.) |
| 3rd Author's Name | Yasuyuki Suzuki |
| 3rd Author's Affiliation | Osaka University (Osaka Univ.) |
| 4th Author's Name | Taishin Nomura |
| 4th Author's Affiliation | Osaka University (Osaka Univ.) |
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| Speaker | Author-1 |
| Date Time | 2012-09-20 13:05:00 |
| Presentation Time | 25 minutes |
| Registration for | CAS |
| Paper # | CAS2012-31, NLP2012-57 |
| Volume (vol) | vol.112 |
| Number (no) | no.204(CAS), no.205(NLP) |
| Page | pp.7-12 |
| #Pages | 6 |
| Date of Issue | 2012-09-13 (CAS, NLP) |
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