Summary
International Symposium on Nonlinear Theory and its Applications
2008
Session Number:C4L-D
Session:
Number:C4L-D1
Automatic Selection Method of Some Locomotion Signals in a CPG Network
Tatsuji Tokiwa, Takeshi Yamakawa,
pp.-
Publication Date:2008/9/7
Online ISSN:2188-5079
Summary:
We have proposed a central pattern generator (CPG) network model with independent controllability, in terms of the amplitude and period of each output signal, and phase difference between CPGs. In our previous research, the CPG network was applied to a quadruped locomotion signal generator and generated typical quadruped locomotion signals. In this research, we propose an automatic selection method of several locomotion signals from possible signals. These selected signals satisfied some constraints defined by a designer and included not only the typical quadruped locomotion signals but also strange ones.