Locomotion Pattern Generation by CPG

The rhythm of the locomotion in vertebrates is produced by the neural oscillators at the spinal cord, CPG (Central Pattern Generator). This study proposes a mathematical model that generates the locomotion patters of multi-legged animals mainly specified by the relative phases of each periodical legs’ motions. In particular, a adaptive locomotion of the decerebrated cat is explained by reproducing its locomotion pattern transition.

Papers

Energy -based pattern transition in quadrupedal locomotion with oscillator and mechanical model
Proceedings of 1996 IEEE International Conference on System, Man and Cybernetics , pp. 2321-2326 (1996)
Satoshi Ito, Hideo Yuasa, Koji Ito, Masami Ito

エネルギー消費量による四足歩行パターン遷移の発振器-力学モデル
計測自動制御学会論文集 , Vol. 32 , No. 11 , pp. 1535-1543 (1996)
伊藤聡, 湯浅秀男, 伊藤宏司

A mathematical model of adaptation in rhythmic motion to environmental changes
Proceedings of 1997 IEEE International Conference on System, Man and Cybernetics , pp. 275-280 (1997)
Satoshi Ito, Hideo Yuasa, Zhi-wei Luo, Masami Ito, Dai Yanagihara

Adaptive behavior of quadruped walking robot under periodic perturbation
Proceedings of the fifth International Conference on Simulation of Adaptive Behavior , pp. 408-413 (1998)
Satoshi Ito, Hideo Yuasa, Zhi-wei Luo, Masami Ito, Dai Yanagihara

Adaptive locomotion to periodic perturbation, adaptation mechanism with coupling of oscillator and link dynamics
Proceedings of the third International Symposium on Artificial Life and Robotics , pp. 101-105 (1998)
Satoshi Ito, Hideo Yuasa, Zhi-wei Luo, Masami Ito, Dai Yanagihara

リズム運動の環境適応に関する数理的モデルについて
計測自動制御学会論文集 , Vol. 34 , No. 9 , pp. 1237-1245 (1998)
伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

A mathematical model of adaptive behavior in quadruped locomotion
Biological Cybernetics , Vol. 78 , No. 5 , pp. 337-347 (1998)
Satoshi Ito, Hideo Yuasa, Zhi-wei Luo, Masami Ito, Dai Yanagihara

Adaptive locomotion to periodic perturbation, adaptation mechanism with coupling of oscillator and link dynamics
Artificial Life and Robotics , Vol. 3 , pp. 97-101 (1999)
Satoshi Ito, Hideo Yuasa, Zhi wei Luo, Masami Ito, Dai Yanagihara

環境の変化に適応する四足歩行ロボットシステム
日本ロボット学会誌 , Vol. 17 , No. 4 , pp. 595-603 (1999)
伊藤聡, 湯浅秀男, 羅志偉, 伊藤正美, 柳原大

Learning scheme of multiple-patterns in quadruped locomotion using CPG model
Proceedings of SICE Annual Conference 2008 , pp. 132-137 (2008)
Satoshi Ito, Yuuichi Sahashi, Minoru Sasaki

A mathematical model that learns an adaptively generated novel pattern in quadruped locomotion
Cybernetics and Systems: An International Journal , Vol. 43 , No. 3 , pp. 181-198 (2012)
Satoshi Ito, Yuuichi Sahashi, Minoru Sasaki