一种基于具身神经振荡器同步的仿生运动控制方法

2021 17th International Workshop on Cellular Nanoscale Networks and their Applications (CNNA) Pub Date : 2021-09-29 DOI:10.1109/CNNA49188.2021.9610804

P. Arena, A. Spinosa, Giuseppe Sutera, L. Patané

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引用次数: 0

摘要

仿生中央模式生成器的实现是通过定义基本神经单元及其相互联系来实现的，目的是产生稳定的运动步态。在这项工作中，研究了神经单元和执行器之间的相互作用，目的是将这两个组成部分集成在一起，实现一个具身神经元。采用基于零曲线的控制策略来调节神经元的振荡行为，以产生自适应运动步态。

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A bio- inspired locomotion control approach through synchronization of embodied neural oscillators

The realization of a bio-inspired central pattern generator for legged robots passes through the definition of the basic neural units and their interconnections, designed to generate stable locomotion gaits. In this work, the interplay between the neural units and the actuators is investigated with the aim to integrate the two components realizing an embodied neuron. A nullcline-based control strategy is applied to modulate the neuron oscillatory behaviour for the generation of adaptive locomotion gaits.

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2021 17th International Workshop on Cellular Nanoscale Networks and their Applications (CNNA)

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