International journal of molecular sciences
34070932
The neuronal networks that generate locomotion are well understood in swimming animals such as the lamprey, zebrafish and tadpole. The networks controlling locomotion in tetrapods remain, however, still enigmatic with an intricate motor pattern requi...
To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resu...
We have proposed and studied both numerically and experimentally a multistable system based on a self-sustained Van der Pol oscillator coupled to passive oscillatory circuits. The number of passive oscillators determines the number of multistable osc...
For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly defined as a...
To achieve the accuracy and anti-interference of the motion control of the soft robot more effectively, the motion control strategy of the pneumatic soft bionic robot based on the improved Central Pattern Generator (CPG) is proposed. According to the...
Mathematical biosciences and engineering : MBE
39483098
In this paper, our main objective was to investigate the central pattern generator (CPG) neural network model for quadruped gait with time delay. First, we computed the normal form of the model on the center manifold, the bifurcation direction, and s...
A central pattern generator (CPG)-based controller enhances the adaptability of quadrupedal locomotion, for example, by controlling the trunk posture. The conventional CPG-based controllers with attitude control often utilized the posture angle as fe...
Complex biological systems have evolved to control movement dynamics despite noisy and unpredictable inputs and processing delays that necessitate forward predictions. The staple example in vertebrates is the locomotor control emerging from interacti...
Earthworm-like robots have excellent locomotion capability in confined environments. Central pattern generator (CPG) based controllers utilize the dynamics of coupled nonlinear oscillators to spontaneously generate actuation signals for all segments,...
Biological neural circuits, central pattern generators (CPGs), located at the spinal cord are the underlying mechanisms that play a crucial role in generating rhythmic locomotion patterns. In this paper, we propose a novel approach that leverages the...