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A New Approach to Design of CPG Model for Stable Humanoid Locomotion Using Neural Oscillators


Affiliations
1 Department of Computer Science and Application, Noida Institute of Engineering & Technology, Greater Noida, Uttar Pradesh, India
     

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In this paper, we propose a new model using central pattern generators (CPG) for the stable motion of Humanoid robot. After that we compare the proposed model with the existing Taga's model of humanoid robot. The Matsuoka Neural Oscillators are used to generate the required signals to realize the coordinated movement of a musculoskeletal model of humanoid robot with five links. The proposed design of the CPG is verified through simulation.

Keywords

Biped Locomotion, Musculoskeletal System Central Pattern Generator (CPG), Matsuoka Neural Oscillator, Entrainment
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  • A New Approach to Design of CPG Model for Stable Humanoid Locomotion Using Neural Oscillators

Abstract Views: 529  |  PDF Views: 4

Authors

Rajeev Kumar
Department of Computer Science and Application, Noida Institute of Engineering & Technology, Greater Noida, Uttar Pradesh, India

Abstract


In this paper, we propose a new model using central pattern generators (CPG) for the stable motion of Humanoid robot. After that we compare the proposed model with the existing Taga's model of humanoid robot. The Matsuoka Neural Oscillators are used to generate the required signals to realize the coordinated movement of a musculoskeletal model of humanoid robot with five links. The proposed design of the CPG is verified through simulation.

Keywords


Biped Locomotion, Musculoskeletal System Central Pattern Generator (CPG), Matsuoka Neural Oscillator, Entrainment

References