| Presentation | 2017-01-27 Group-Theoretic Consideration of Quadrupedal Locomotion Rhythms Generated by Hardware CPG Models Yoshinobu Maeda, Naruki Sasagawa, Satoshi Oyake, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We have reproduced several quadrupedal locomotion rhythms on a hard-wired electronic circuit model by mimicking neural networks of the central pattern generator (CPG). A novelty is to be able to reproduce them by modulating a few parameters at most. The electronic circuit model is composed as the Z4×Z2 symmetry group, originally proposed by Golubitsky et al. in 1998. Modulating one parameter, which is a voltage signal from midbrain locomotor region, then walking, trotting, and bounding gaits, so-called, the primary gait, were reproduced and switched each other. Additionally, modulating another parameter, which is also voltage signal located on the synaptic coupling from right to left CPGs, then galloping and cantering gaits, so-called, the secondary gait, were also reproduced by bifurcating from the primary gait. In this technical report, we theoretically described typical locomotion rhythms (walk, trot, bound, gallop, and canter) emerged on the Z4×Z2 symmetry group, by following group-theoretic works of Golubitsky et al. and Buono et al. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Gait / Central pattern generator / Hard-wired / Symmetry / Homomorphism theorem |
| Paper # | CAS2016-103,ICTSSL2016-57 |
| Date of Issue | 2017-01-19 (CAS, ICTSSL) |
| Conference Information | |
| Committee | CAS / ICTSSL |
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| Conference Date | 2017/1/26(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Kikai-Shinko-Kaikan Bldg. |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Toshihiko Takahashi(Niigata Univ.) / Kazunori Okada(NICT) |
| Vice Chair | Mitsuru Hiraki(Renesas) / Hiroshi Tamura(Chuo Univ.) / Keisuke Nakano(Niigata Univ.) |
| Secretary | Mitsuru Hiraki(Tohoku Univ.) / Hiroshi Tamura(Renesas) / Keisuke Nakano(NTT DoCoMo) |
| Assistant | Toshihiro Tachibana(Shonan Inst. of Tech.) / Yohei Nakamura(Hitachi) / Shosuke Sato(Tohoku Univ.) / Tomotaka Wada(Kansai Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Circuits and Systems / Technical Committee on Information and Communication Technologies for Safe and Secure Life |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Group-Theoretic Consideration of Quadrupedal Locomotion Rhythms Generated by Hardware CPG Models |
| Sub Title (in English) | |
| Keyword(1) | Gait |
| Keyword(2) | Central pattern generator |
| Keyword(3) | Hard-wired |
| Keyword(4) | Symmetry |
| Keyword(5) | Homomorphism theorem |
| 1st Author's Name | Yoshinobu Maeda |
| 1st Author's Affiliation | Niigata University(Niigata Univ.) |
| 2nd Author's Name | Naruki Sasagawa |
| 2nd Author's Affiliation | Niigata University(Niigata Univ.) |
| 3rd Author's Name | Satoshi Oyake |
| 3rd Author's Affiliation | Niigata University(Niigata Univ.) |
| Date | 2017-01-27 |
| Paper # | CAS2016-103,ICTSSL2016-57 |
| Volume (vol) | vol.116 |
| Number (no) | CAS-421,ICTSSL-422 |
| Page | pp.pp.121-126(CAS), pp.121-126(ICTSSL), |
| #Pages | 6 |
| Date of Issue | 2017-01-19 (CAS, ICTSSL) |