Design of Synthetic Central Pattern Generators Producing Desired Quadruped Gaits
Matteo Lodi, Andrey Shilnikov, Marco Storace, Senior Member, IEEE
M. Lodi and M. Storace are with the Department of Electrical, Electronic, Telecommunications Engineering and Naval
Architecture, University of Genoa, 16145 Genoa, Italy;
A. L. Shilnikov is with the Department of Mathematics and Statistics, Neuroscience Institute, Georgia State University, Atlanta,
GA 30303 USA.
Manuscript received July 16, 2018; revised April 8, 2019; accepted October 1, 2019
本文介绍了一种设计和分析特定神经元网络的方法, 称为中央模式发生器 (CPGs),它在动物体内产生初级节律模式。本文着重于由几个基本元素组成的合成CPGs, 并在外部驱动的控制下控制四足动物的步态和步态转换。该方法结合了分岔理论原理、对称几何特性和基于最近提出的工具箱 CEPAGE 的数值分析。该方法适用于两种CPGs, 一种是仿生的, 另一种是纯合成的。在这两种情况下, 该方法都提供了一种通过改变与外部驱动相关的分岔参数来获得所需步态序列的方法。
原文:Design of Synthetic Central Pattern Generators Producing Desired Quadruped Gaits
译文:产生所需四足步态的中枢模式发生器的设计