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

来源：

INTERNATIONAL JOURNAL OF CIRCUIT THEORY AND APPLICATIONS | 2002年 / 30卷 / 04期

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

页码：441 / 458

页数：18

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