The interest of central pattern generators in robot motor coordination is universally recognized so much so that a lot of possibilities on different scales of modeling are nowadays available. While each method obviously has its advantages and drawbacks, some could be more suitable for human-robot interactions. In this paper, we compare three oscillator models: Matsuoka, Hopf and Rowat-Selverston models. These models are integrated to a control architecture for a robotic arm and evaluated in simulation during a simplified handshaking interaction which involves constrained rhythmic movements. Furthermore, Hebbian plasticity mechanisms are integrated to the Hopf and Rowat-Selverston models which can incorporate such mechanisms, contrary to the Matsuoka. Results show that the Matsuoka oscillator is subpar in all aspects and for the two others, that plasticity improves synchronization and leads to a significant decrease in the power consumption.

中文翻译：

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在机器人控制器中自适应产生节奏运动的强迫振荡器的比较研究。

中央模式生成器对机器人电机协调的兴趣已得到广泛认可，因此，如今在不同规模的建模上有很多可能性。虽然每种方法显然都有其优点和缺点，但有些方法可能更适合于人机交互。在本文中，我们比较了三种振荡器模型：Matsuoka，Hopf和Rowat-Selverston模型。这些模型已集成到机械臂的控制体系结构中，并在简化的握手交互过程中（包括受限的节奏运动）在仿真中进行了评估。此外，与松冈相反，Hebbian可塑性机制已集成到Hopf和Rowat-Selverston模型中，这些模型可以包含这些机制。结果表明，松冈振荡器在所有方面均低于同类产品，而在另两个方面，