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Published in:
Neurobiological Models of the Central Complex and the Mushroom Bodies Read chapter Read first chapter

2014 | OriginalPaper | Chapter

4. CPG for Motor Control

Authors : E. Arena, P. Arena, L. Patanè

Published in: Spatial Temporal Patterns for Action-Oriented Perception in Roving Robots II

Publisher: Springer International Publishing

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Abstract

In this Chapter the main results related to locomotion control are reported. Theoretical results referring to Contraction theory are exploited to design reaction diffusion dynamical systems able to work as stable Central Pattern Generators for multipodal robotic structures. A series of strategies are also discussed referring to the control of migration through different locomotion patterns as well as to the steering control for trajectory planning. Relevant parameters are also outlined in view of their modulation for a low low-level feedback control. Both theoretical and experimental results are reported to verify the suitability of the approach.

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previous chapter Compact Internal Representation of Dynamic Environments: Simple Memory Structures for Complex Situations
next chapter A Prototype 2N-Legged (insect-like) Robot. A Non-Linear Dynamical System Approach
Footnotes
1
The term undirected means that for each connection from the node i to node j, the same connection is duplicated in the opposite direction, from j to i.
 
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Metadata
Title
CPG for Motor Control
Authors
E. Arena
P. Arena
L. Patanè
Copyright Year
2014
Book
Spatial Temporal Patterns for Action-Oriented Perception in Roving Robots II

Print ISBN: 978-3-319-02361-8

Electronic ISBN: 978-3-319-02362-5

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-319-02362-5_4