Parameter Optimization Of CPG And Its Application In Robot

摘要：

　　The central pattern generator(CPG)has been identified in the spinal cords as responsible for locomotion movements.It is difficult to select the appropriate values of parameters in CPG model.In this paper,the Matsuoka oscillator is selected as the rhythm-generation model and the bat algorithm is chosen to search the parameters of CPG model.The paper shows the details of the parameters optimization and the diagram of the convergence performance.In the paper,the CPG includes the main rhythm-generation neuron and the minor pattern-formation neuron,and Rowats neural model is chosen as the patternformation neuron.Then the CPG model is applied to the three-link biped robot and the result shows that the method of parameter optimization is effective.

作者: Qiang Lua Zhaochen Zhang Wenfeng Li

作者单位: College of Medical Information and Engineering,Taishan Medical University,Taian,271016,China

会议类型: 国际会议

会议名称: 2018 2nd International Conference on Electronic Information Technology and Computer Engineering (EITCE 2018)(2018第二届电子信息技术与计算机工程国际会议)(EITCE2018)

会议地点: 上海

会议语种:英文

页码: 1-5

在线出版日期: 2018-10-12（万方平台首次上网日期，不代表论文的发表时间）