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

ASJC Scopus subject areas

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

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