Title :
Exact synthesis of biological pattern generation: a circulant paradigm
Author :
Chen, Zhiyong ; Iwasaki, Tetsuya
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Virginia Univ., Charlottesville, VA
Abstract :
The central pattern generator (CPG) is the fundamental mechanism underlying rhythmic movements of animals, and may play important roles in the locomotion control of engineering systems. This paper gives a novel method for synthesizing artificial CPG circuits by utilizing the properties of circulant matrices. The unique feature of the synthesized CPGs is their ability to generate patterns exactly to achieve a prescribed set of frequency, amplitudes, and phases
Keywords :
gait analysis; matrix algebra; mobile robots; motion control; neurophysiology; pattern recognition; animal rhythmic movements; biological pattern generation; central pattern generator; locomotion control; Animals; Biological control systems; Circuit synthesis; Control system synthesis; Control systems; Frequency; Motion control; Neurons; Oscillators; Systems engineering and theory;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657363
