A coupled oscillators-based control architecture for locomotory gaits

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

doi:10.1109/CDC.2014.7039930

A coupled oscillators-based control architecture for locomotory gaits

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English (US)
Title of host publication	53rd IEEE Conference on Decision and Control,CDC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3487-3492
Number of pages	6
Edition	February
ISBN (Electronic)	9781479977468
DOIs	https://doi.org/10.1109/CDC.2014.7039930
State	Published - 2014
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: Dec 15 2014 → Dec 17 2014

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Number	February
Volume	2015-February
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/Territory	United States
City	Los Angeles
Period	12/15/14 → 12/17/14

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2014.7039930

Library availability

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Taghvaei, A., Hutchinson, S. A., & Mehta, P. G. (2014). A coupled oscillators-based control architecture for locomotory gaits. In 53rd IEEE Conference on Decision and Control,CDC 2014 (February ed., pp. 3487-3492). Article 7039930 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2014.7039930

A coupled oscillators-based control architecture for locomotory gaits. / Taghvaei, Amirhossein; Hutchinson, Seth A.; Mehta, Prashant G.
53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3487-3492 7039930 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Taghvaei, A, Hutchinson, SA & Mehta, PG 2014, A coupled oscillators-based control architecture for locomotory gaits. in 53rd IEEE Conference on Decision and Control,CDC 2014. February edn, 7039930, Proceedings of the IEEE Conference on Decision and Control, no. February, vol. 2015-February, Institute of Electrical and Electronics Engineers Inc., pp. 3487-3492, 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 12/15/14. https://doi.org/10.1109/CDC.2014.7039930

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A coupled oscillators-based control architecture for locomotory gaits

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