A coupled oscillators-based control architecture for locomotory gaits

Amirhossein Taghvaei, Seth A. Hutchinson, Prashant G. Mehta

Research output: Contribution to journalConference article

Abstract

This paper presents a bio-inspired central pattern generator (CPG) architecture for optimal control of locomotory gaits. The CPG circuit is realized as a coupled oscillator feedback particle filter. The collective dynamics of the filter are used to approximate a posterior distribution that is used to construct the optimal control input. The architecture is illustrated with the aid of a model problem involving locomotion of coupled planar rigid body systems, with two links. For this problem, the coupled oscillator feedback particle filter is designed and its control performance demonstrated in a simulation environment.

Original languageEnglish (US)
Article number7039930
Pages (from-to)3487-3492
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2015-February
Issue numberFebruary
DOIs
StatePublished - Jan 1 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014

Fingerprint

Central Pattern Generator
Gait
Particle Filter
Coupled Oscillators
Optimal Control
Locomotion
Simulation Environment
Posterior distribution
Rigid Body
Feedback
Filter
Networks (circuits)
Architecture
Model

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

A coupled oscillators-based control architecture for locomotory gaits. / Taghvaei, Amirhossein; Hutchinson, Seth A.; Mehta, Prashant G.

In: Proceedings of the IEEE Conference on Decision and Control, Vol. 2015-February, No. February, 7039930, 01.01.2014, p. 3487-3492.

Research output: Contribution to journalConference article

Taghvaei, Amirhossein ; Hutchinson, Seth A. ; Mehta, Prashant G. / A coupled oscillators-based control architecture for locomotory gaits. In: Proceedings of the IEEE Conference on Decision and Control. 2014 ; Vol. 2015-February, No. February. pp. 3487-3492.
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