Multi-template approach to realize central pattern generators for artificial locomotion control

被引:29
作者
Arena, P [1 ]
Fortuna, L [1 ]
Frasca, M [1 ]
机构
[1] Univ Catania, Dipartimento Elettr Elettron & Sistemist, I-95125 Catania, Italy
关键词
cellular neural network; central pattern generator; artificial locomotion; bio-inspired robotics; non-linear circuits;
D O I
10.1002/cta.186
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Biologically inspired control of artificial locomotion often makes use of the concept of central pattern generator (CPG), a network of neurons establishing the locomotion pattern within a lattice of neural activity. In this paper a new approach, based on cellular neural networks (CNNs), for the design of CPGs is presented. From a biological point of view this new approach includes an approximated chemical synapse realized and implemented in a CNN structure. This allows to extend the results, previously obtained with a reaction-diffusion-CNN (RD-CNN) for the locomotion control of a hexapod robot, to a more general class of artificial CPGs in which the desired locomotion pattern and the switching among patterns are realized by means of a spatio-temporal algorithm implemented in the same CNN structure. Copyright (C) 2002 John Wiley Sons, Ltd.
引用
收藏
页码:441 / 458
页数:18
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