In this paper, we present a method for co-evolving structures and controller of biped walking robots. Currently, biped walking humanoid robots are designed manually on trial-and-error basis. Although certain control theory exists, such as zero moment point (ZMP) compensation, these theories assume humanoid robot morphology is given in advance. Thus, engineers have to design control program for ...

In this report, we propose an analog neural oscillator circuit for a locomotion controller in a quadruped walking robot. Animal locomotion, such as walking, running, swimming and flying, is based on periodic rhythmic movements. These rhythmic movements are driven by the biological neural network, called the central pattern generator (CPG). In recent years, many researchers have applied CPG to t...

Spiking oscillators with pulse-train input(s) exhibit interesting synchronous phenomena and have been studied intensively in various fields including nonlinear electric circuits and neural networks [1]-[3]. The analysis of such synchronous phenomena is important as basic nonlinear problems in the various fields. Also, the analysis is fundamental for understanding dynamics of pulse-coupled neura...

People often coordinate their actions with sequences that exhibit temporal variability and unfold at multiple periodicities. We compared oscillator- and timekeeper-based accounts of temporal coordination by examining musicians' coordination of rhythmic musical sequences with a metronome that gradually changed rate at the end of a musical phrase (Experiment 1) or at the beginning of a phrase (Ex...

Duffing harmonic oscillator is a common model for nonlinear phenomena in science and engineering. This paper presents He´s Energy Balance Method (EBM) for solving nonlinear differential equations. Two strong nonlinear cases have been studied analytically. Analytical results of the EBM are compared with the solutions obtained by using He´s Frequency Amplitude Formulation (FAF) and numerical solu...

We investigate the presence of asymptotically stable periodic oscillations in a time-periodic impact oscillator close to an isochronous one. A new averaging method is developed to account for the position of the obstacle and for the impact restitution coefficient, which don’t appear in the classical smooth situation.

We investigate numerically the dynamics of large networks of N globally pulse-coupled integrate and fire neutrons in a noise-induced synchronized state. The power spectrum of an individual element within the network is shown to exhibit in the thermodynamic limit sN ! `d a broadband peak and an additional delta-function peak that is absent from the power spectrum of an isolated element. The powe...

Neural networks consisting of globally coupled excitatory and inhibitory nonidentical neurons may exhibit a complex dynamic behavior including synchronization, multiclustered solutions in phase space, and oscillator death. We investigate the conditions under which these behaviors occur in a multidimensional parametric space defined by the connectivity strengths and dispersion of the neuronal me...