In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and jumping. We show two main results: (1) The adaptive controller is able to track the resonant frequency of the robot which is a function of di...

This paper presents a hardware implementation of a controller to generate adaptive gait patterns for quadruped robots inspired by biological Central Pattern Generators (CPGs). The basic CPGs are modeled as non-linear oscillators which are connected one to each other through coupling parameters that can be modified for different gaits. The proposed implementation is based on an specific digital ...

Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...

This is the user’s manual of MC@NLO 3.4. This package is a practical implementation, based upon the HERWIG event generator, of the MC@NLO formalism, which allows one to incorporate NLO QCD matrix elements consistently into a parton shower framework. Processes available in this version include the hadroproduction of single vector and Higgs bosons, vector boson pairs, heavy quark pairs, single to...

A CPG based motion control approach is proposed for a biologically inspired underwater thruster with undulating long-fin. The characteristic of rhythmic motion patterns generated by CPG suits well to control the thruster, which has multiple fin rays coupled by membrane. Based on modified Matsuoka model, an artificial CPG controller consisting of ten neural oscillators with sensory information f...

In presenting this dissertation as a partial fulfillment of the requirements for an advanced degree from Georgia State University, I agree that the Library of the University shall make it available for inspection and circulation in accordance with its regulations governing materials of this type. I agree that permission to quote from, to copy from, or publish this dissertation may be granted by...

A new procedure for digital image classi® cation is described. The procedure, labelled Classi ® cation by Progressive Generalization (CPG), was developed to avoid drawbacks associated with most supervised and unsupervised classi® cations. Using lessons from visual image interpretation and map making, non-recursive CPG aims to identify all signi® cant spectral clusters within the scene to be cla...

This paper outlines aspects of locomotor control in insects that may serve as the basis for the design of controllers for autonomous hexapod robots. Control of insect walking can be considered hierarchical and modular. The brain determines onset, direction, and speed of walking. Coordination is done locally in the ganglia that control leg movements. Typically, networks of neurons capable of gen...

The rhythmic locomotion of animals, such as walking, swimming, and #ying, is controlled by groups of neurons called central pattern generators (CPGs). CPGs can autonomously produce rhythmic output, but under normal biological conditions make extensive use of peripheral sensory feedback. Models of CPGs have been used to control robot locomotion, but none of these models have incorporated sensory...

In this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators to model Central Pattern Generators (CP...