Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback.

ABSTRACT: To obtain biologically inspired robotic control, the architecture of central pattern generators (CPGs) has been extensively adopted to generate periodic patterns for locomotor control. This is attributed to the interesting properties of nonlinear oscillators. Although sensory feedback in CPGs is not necessary for the generation of patterns, it plays a central role in guaranteeing adaptivity to environmental conditions. Nonetheless, its inclusion significantly modifies the dynamics of the CPG architecture, which often leads to bifurcations. For instance, the force feedback can be exploited to derive information regarding the state of the system. In particular, the Tegotae approach can be adopted by coupling proprioceptive information with the state of the oscillation itself in the CP

SUBMITTER: Zamboni R 

PROVIDER: S-EPMC8187776 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature