Self-Learning Event Mistiming Detector Based on Central Pattern Generator.

ABSTRACT: A repetitive movement pattern of many animals, a gait, is controlled by the Central Pattern Generator (CPG), providing rhythmic control synchronous to the sensed environment. As a rhythmic signal generator, the CPG can control the motion phase of biomimetic legged robots without feedback. The CPG can also act in sensory synchronization, where it can be utilized as a sensory phase estimator. Direct use of the CPG as the estimator is not common, and there is little research done on its utilization in the phase estimation. Generally, the sensory estimation augments the sensory feedback information, and motion irregularities can reveal from comparing measurements with the estimation. In this work, we study the CPG in the context of phase irregularity detection, where the timing of sensory even

SUBMITTER: Szadkowski R 

PROVIDER: S-EPMC7890245 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature