MATEC Web Conf.
Volume 232, 20182018 2nd International Conference on Electronic Information Technology and Computer Engineering (EITCE 2018)
|Number of page(s)||5|
|Section||Algorithm Study and Mathematical Application|
|Published online||19 November 2018|
Parameter Optimization Of CPG And Its Application In Robot
College of Medical Information and Engineering, Taishan Medical University, Taian, 271016, China
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 Rowat's neural model is chosen as the pattern-formation 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.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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