Recent advances in bipedal walking robots: Review of gait, drive, sensors and control systems
Currently, there is an intensive development of bipedal walking robots. The most known
solutions are based on the use of the principles of human gait created in nature during …
solutions are based on the use of the principles of human gait created in nature during …
A survey on CPG-inspired control models and system implementation
This paper surveys the developments of the last 20 years in the field of central pattern
generator (CPG) inspired locomotion control, with particular emphasis on the fast emerging …
generator (CPG) inspired locomotion control, with particular emphasis on the fast emerging …
Stabilization of complex networks under asynchronously intermittent event-triggered control
In this paper, we explore the input-to-state practically exponential stability of complex
networks by designing asynchronous aperiodical intermittent dynamic event-triggered …
networks by designing asynchronous aperiodical intermittent dynamic event-triggered …
Survey of locomotion control of legged robots inspired by biological concept
Compared with wheeled mobile robots, legged robots can easily step over obstacles and
walk through rugged ground. They have more flexible bodies and therefore, can deal with …
walk through rugged ground. They have more flexible bodies and therefore, can deal with …
Central pattern generator based on self-sustained oscillator coupled to a chain of oscillatory circuits
SA Kurkin, DD Kulminskiy, VI Ponomarenko… - … Journal of Nonlinear …, 2022 - pubs.aip.org
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 …
based on a self-sustained Van der Pol oscillator coupled to passive oscillatory circuits. The …
On-line frequency adaptation and movement imitation for rhythmic robotic tasks
In this paper we present a novel method to obtain the basic frequency of an unknown
periodic signal with an arbitrary waveform, which can work online with no additional signal …
periodic signal with an arbitrary waveform, which can work online with no additional signal …
Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot
Snake-like robots with 3D locomotion ability have significant advantages of adaptive
travelling in diverse complex terrain over traditional legged or wheeled mobile robots …
travelling in diverse complex terrain over traditional legged or wheeled mobile robots …
Networks of coupled oscillators: from phase to amplitude chimeras
We show that amplitude-mediated phase chimeras and amplitude chimeras can occur in the
same network of nonlocally coupled identical oscillators. These are two different partial …
same network of nonlocally coupled identical oscillators. These are two different partial …
A gecko-inspired robot with CPG-based neural control for locomotion and body height adaptation
Today's gecko-inspired robots have shown the ability of omnidirectional climbing on slopes
with a low centre of mass. However, such an ability cannot efficiently cope with bumpy …
with a low centre of mass. However, such an ability cannot efficiently cope with bumpy …
On the role of sensory feedbacks in Rowat–Selverston CPG to improve robot legged locomotion
E Amrollah, P Henaff - Frontiers in neurorobotics, 2010 - frontiersin.org
This paper presents the use of Rowat and Selverston-type of central pattern generator
(CPG) to control locomotion. It focuses on the role of afferent exteroceptive and …
(CPG) to control locomotion. It focuses on the role of afferent exteroceptive and …