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.

Multi-Template Approach to realize Central Pattern Generators for Artificial Locomotion Control

ARENA, Paolo Pietro;FORTUNA, Luigi;FRASCA, MATTIA
2002-01-01

Abstract

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11769/2570
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