A survey on CPG-inspired control models and system implementation
文献类型：期刊论文
| 作者 | Yu, Junzhi 1; Tan, Min 1; Chen, Jian 2; Zhang, Jianwei 3; Cheng, Long
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| 刊名 | IEEE Transactions on Neural Networks and Learning Systems
 |
| 出版日期 | 2014 |
| 卷号 | 25期号:3页码:441-456 |
| 关键词 | robotic applications Bioinspired control central pattern generator (CPG) neural network parameter tuning |
| 通讯作者 | Cheng, Long |
| 英文摘要 | This paper surveys the developments of the last 20 years in the field of central pattern generator (CPG) inspired locomotion control, with particular emphasis on the fast emerging robotics-related applications. Functioning as a biological neural network, CPGs can be considered as a group of coupled neurons that generate rhythmic signals without sensory feedback; however, sensory feedback is needed to shape the CPG signals. The basic idea in engineering endeavors is to replicate this intrinsic, computationally efficient, distributed control mechanism for multiple articulated joints, or multi-DOF control cases. In terms of various abstraction levels, existing CPG control models and their extensions are reviewed with a focus on the relative advantages and disadvantages of the models, including ease of design and implementation. The main issues arising from design, optimization, and implementation of the CPG-based control as well as possible alternatives are further discussed, with an attempt to shed more light on locomotion control-oriented theories and applications. The design challenges and trends associated with the further advancement of this area are also summarized. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13094]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Cheng, Long |
| 作者单位 | 1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Sciences, Chinese Academy of Sciences, Changzhou 213000, China 3. Department of Informatics, University of Hamburg, Hamburg 22527, Germany |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi ,Tan, Min ,Chen, Jian ,et al. A survey on CPG-inspired control models and system implementation[J]. IEEE Transactions on Neural Networks and Learning Systems,2014,25(3):441-456. |
| APA | Yu, Junzhi ,Tan, Min ,Chen, Jian ,Zhang, Jianwei ,&Cheng, Long.(2014).A survey on CPG-inspired control models and system implementation.IEEE Transactions on Neural Networks and Learning Systems,25(3),441-456. |
| MLA | Yu, Junzhi ,et al."A survey on CPG-inspired control models and system implementation".IEEE Transactions on Neural Networks and Learning Systems 25.3(2014):441-456. |
入库方式： OAI收割
来源：自动化研究所
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