The walking and running control of a human musculoskeletal model using a low-power consumption hardware central pattern generator model

International Journal of Advanced Robotic Systems

article

Kenji Takeda¹  Mikihito Hayakawa¹  Motokuni Ishibashi¹  Minori Ishihara¹  Takumi Ishihama¹  Megumi Aibara¹  Minami Kaneko¹  Fumio Uchikoba¹ 

[1]Graduate School of Science and Technology, Nihon University

关键词: Pulse-type hardware neural networks;    central pattern generator;    biped control;    musculoskeletal model;    muscle synergy;   

DOI  :  10.1177/17298806221080633

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

Applying a control system with low energy consumption and low load of motion control to robots, similar to living organisms, is considered to be one of the most important issues in robot development. We have been studying systems that use pulse-type hardware neural networks to control robotic motion with a small number of control signals, as is the case in living organisms. In particular, it has been mimicking the function of the central pattern generator localized in the spinal cord of living organisms to generate motion patterns. In the present article, a new biomimetic control system using pulse-type hardware neural networks for biped gait control is reported.

【 授权许可】

CC BY