SELF-ORGANISATION OF GAIT PATTERN TRANSITION - An Efficient Approach to Implementing Animal Gaits and Gait Transitions

Zhijun Yang, Juan Huo, Alan Murray

Abstract

As an engine of almost all life phenomena, the motor information generated by the central nervous system (CNS) plays a critical role in the activities of all animals. Despite the difficulty of being physically identified, the central pattern generator (CPG), which is a concrete branch of studies on the CNS, is widely recognised to be responsible for generating rhythmic patterns. This paper presents a novel, macroscopic and model-independent approach to the retrieval of different patterns of coupled neural oscillations observed in biological CPGs during the control of legged locomotion. Based on the simple graph dynamics, various types of oscillatory building blocks (OBB) can be reconfigured for the production of complicated rhythmic patterns. Our quadrupedal locomotion experiments show that an OBB-based artificial CPG model alone can integrate all gait patterns and undergo self-organised gait transition between different patterns.

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Paper Citation


in Harvard Style

Yang Z., Huo J. and Murray A. (2008). SELF-ORGANISATION OF GAIT PATTERN TRANSITION - An Efficient Approach to Implementing Animal Gaits and Gait Transitions . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8111-30-2, pages 75-79. DOI: 10.5220/0001476400750079


in Bibtex Style

@conference{icinco08,
author={Zhijun Yang and Juan Huo and Alan Murray},
title={SELF-ORGANISATION OF GAIT PATTERN TRANSITION - An Efficient Approach to Implementing Animal Gaits and Gait Transitions},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2008},
pages={75-79},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001476400750079},
isbn={978-989-8111-30-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - SELF-ORGANISATION OF GAIT PATTERN TRANSITION - An Efficient Approach to Implementing Animal Gaits and Gait Transitions
SN - 978-989-8111-30-2
AU - Yang Z.
AU - Huo J.
AU - Murray A.
PY - 2008
SP - 75
EP - 79
DO - 10.5220/0001476400750079