Neural oscillators with a sigmoidal function for the CPG of biped robot walking

Keigo Watanabe, Guang Lei Liu, Maki K. Habib, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages128-133
Number of pages6
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: Nov 5 2007Nov 8 2007

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan, Province of China
CityTaipei
Period11/5/0711/8/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Neural oscillators with a sigmoidal function for the CPG of biped robot walking'. Together they form a unique fingerprint.

Cite this