Control with rhythms: A CPG architecture for pumping a swing

Adam Tilton; Prashant G. Mehta

doi:10.1109/ACC.2014.6859267

Control with rhythms: A CPG architecture for pumping a swing

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

Abstract

This paper presents a bio-inspired central pattern generator (CPG) architecture for feedback control of rhythmic behavior. 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 pumping up of a swing, modeled as a parametrically forced pendulum. For this problem, the coupled oscillator particle filter is designed and its control performance demonstrated in a simulation environment.

Original language	English (US)
Title of host publication	2014 American Control Conference, ACC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	584-589
Number of pages	6
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6859267
State	Published - 2014
Event	2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: Jun 4 2014 → Jun 6 2014

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2014 American Control Conference, ACC 2014
Country/Territory	United States
City	Portland, OR
Period	6/4/14 → 6/6/14

Keywords

Biological systems
Filtering
Stochastic systems

ASJC Scopus subject areas

Electrical and Electronic Engineering

Online availability

10.1109/ACC.2014.6859267

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Tilton, A & Mehta, PG 2014, Control with rhythms: A CPG architecture for pumping a swing. in 2014 American Control Conference, ACC 2014., 6859267, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 584-589, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 6/4/14. https://doi.org/10.1109/ACC.2014.6859267

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AB - This paper presents a bio-inspired central pattern generator (CPG) architecture for feedback control of rhythmic behavior. 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 pumping up of a swing, modeled as a parametrically forced pendulum. For this problem, the coupled oscillator particle filter is designed and its control performance demonstrated in a simulation environment.

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M3 - Conference contribution

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PB - Institute of Electrical and Electronics Engineers Inc.

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Control with rhythms: A CPG architecture for pumping a swing

Abstract

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Keywords

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