Dynamic control of walking leg joints: A building block model perspective

@article{Yang2011DynamicCO,
  title={Dynamic control of walking leg joints: A building block model perspective},
  author={Zhijun Yang},
  journal={2011 Seventh International Conference on Natural Computation},
  year={2011},
  volume={1},
  pages={459-463}
}
Animals like stick insects can adaptively walk on the complex terrain with different gait patterns. The change of gait patterns involves the adaptation of moving frequency and duty cycle of swing-stance period of individual legs. Inspired by the coupled Matsuoka and resonate-and-fire neuron models, we present a nonlinear oscillation model as the central pattern generator (CPG) for rhythmic gait pattern generation. This dynamic model can be used, as a building block, to actuate the motoneurons… CONTINUE READING