TY - GEN
T1 - Neural oscillators with a sigmoidal function for the CPG of biped robot walking
AU - Watanabe, Keigo
AU - Liu, Guang Lei
AU - Habib, Maki K.
AU - Izumi, Kiyotaka
PY - 2007/12/1
Y1 - 2007/12/1
N2 - Two types of neural oscillators with the degree of adaptation, Matsuoka oscillator and McMillen oscillator, are compared each other, and their differences in the system structure are discussed. The Hopf bifurcation analysis is revisited in detail to a half-center oscillator in the latter oscillator. Simulation results are compared each other when the both oscillators are applied as central pattern generator (CPG) controllers for controlling a bipedal robot with five links and six joints.
AB - Two types of neural oscillators with the degree of adaptation, Matsuoka oscillator and McMillen oscillator, are compared each other, and their differences in the system structure are discussed. The Hopf bifurcation analysis is revisited in detail to a half-center oscillator in the latter oscillator. Simulation results are compared each other when the both oscillators are applied as central pattern generator (CPG) controllers for controlling a bipedal robot with five links and six joints.
UR - http://www.scopus.com/inward/record.url?scp=49949106401&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=49949106401&partnerID=8YFLogxK
U2 - 10.1109/IECON.2007.4460256
DO - 10.1109/IECON.2007.4460256
M3 - Conference contribution
AN - SCOPUS:49949106401
SN - 1424407834
SN - 9781424407835
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 128
EP - 133
BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
T2 - 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Y2 - 5 November 2007 through 8 November 2007
ER -