In this paper a CPG approach to locomotionpattern generation and control in a Drosophila-like hexapodalstructure was implemented. The CPG consisted of a two-layernetwork of nonlinear oscillators: the first layer is devoted toguarantee a stable locomotion pattern, whereas the second wasdesigned according to the kinematic constraints of each leg.An accurate leg motion required the synchronization control inparallel neural networks where different oscillation frequencieshave to co-exist. A strategy based on the use of an intermittentlaplacian coupling was used to solve this issue. Numerical resultsare reported, which deserve further analytical inspection.
CPG-based locomotion generation in a Drosophila inspired legged robot
ARENA, Paolo Pietro;
2012-01-01
Abstract
In this paper a CPG approach to locomotionpattern generation and control in a Drosophila-like hexapodalstructure was implemented. The CPG consisted of a two-layernetwork of nonlinear oscillators: the first layer is devoted toguarantee a stable locomotion pattern, whereas the second wasdesigned according to the kinematic constraints of each leg.An accurate leg motion required the synchronization control inparallel neural networks where different oscillation frequencieshave to co-exist. A strategy based on the use of an intermittentlaplacian coupling was used to solve this issue. Numerical resultsare reported, which deserve further analytical inspection.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
