A Survey on CPG-Inspired Control Models and System Implementation

  title={A Survey on CPG-Inspired Control Models and System Implementation},
  author={Junzhi Yu and Min Tan and Jian Chen and Jianwei Zhang},
  journal={IEEE Transactions on Neural Networks and Learning Systems},
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… CONTINUE READING
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