Gait Genesis Through Emergent Ordering of RBF Neurons on Central Pattern Generator for Hexapod Walking Robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00355327" target="_blank" >RIV/68407700:21230/21:00355327 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Gait Genesis Through Emergent Ordering of RBF Neurons on Central Pattern Generator for Hexapod Walking Robot
Original language description
The neurally based gait controllers for multi-legged robots are designed to reproduce the plasticity observed in animal locomotion. In animals, gaits are regulated by Central Pattern Generator (CPG), a recurrent neural network producing rhythmical signals prescribing each leg’s action timing, leading to coordinated motion of multiple legs. The biomimetic CPG-RBF architecture, where leg motion timing is encoded by Radial Basis Function (RBF) neurons coupled with CPG, is used in recent gait controllers. However, the RBF neurons coupling is usually parameterized by the supervisor. Therefore, the RBF parameters get outdated when the CPG signal’s wave-form changes. We propose self-supervised dynamics for RBF parameters adapting to a given CPG and producing the required gait rhythm. The method orders the leg activity with respect to inter-leg coordination rules and maps the activity onto CPG states. The proposed dynamics produce rhythmic control for three different hexapod gaits and adapts to the CPG parametric changes.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GC21-33041J" target="_blank" >GC21-33041J: Learning Complex Motion Planning Policies</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 21st Conference Information Technologies – Applications and Theory (ITAT 2021)
ISBN
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ISSN
1613-0073
e-ISSN
1613-0073
Number of pages
9
Pages from-to
114-122
Publisher name
CEUR Workshop Proceedings
Place of publication
Aachen
Event location
Heľpa
Event date
Sep 24, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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