当前位置: X-MOL 学术Annu. Rev. Control › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
A controller perspective on biological gait control: Reflexes and central pattern generators
Annual Reviews in Control ( IF 9.4 ) Pub Date : 2019-04-27 , DOI: 10.1016/j.arcontrol.2019.04.004
Jacques Duysens , Arturo Forner-Cordero

Biological motion control paradigms can be analyzed from a control theory point of view and translated to control applications. This paper revises and updates important aspects about the neural control of biped gait based on the Central Pattern Generator (CPG) and provides a controller view, including possible artificial implementations of these controllers. A first aspect to consider is the biological sensor-actuation system because the particularities of this system: the mammalian muscle. Many current biped robots are based on symmetrical CPG. However, new evidence suggests that biological CPG is asymmetrical with rhythm generator controlling the flexor half in a kind of feedforward control and the extensor behaving in a feedback fashion controlled by external inputs such as ground contact. A theoretical model of the CPG connections with flexors and extensors is presented.



中文翻译:

生物步态控制的控制器视角:反射和中央模式生成器

可以从控制理论的角度分析生物运动控制范例,并将其转化为控制应用。本文修订和更新了基于中央模式生成器(CPG)的两足动物步态神经控制的重要方面,并提供了一个控制器视图,包括这些控制器的可能的人工实现。要考虑的第一方面是生物传感器致动系统,因为该系统的特殊性:哺乳动物的肌肉。当前许多Biped机器人都基于对称CPG。然而,新的证据表明,生物CPG与节奏发生器在前馈控制中控制屈肌半部和伸肌表现为受外部输入(如地面接触)控制的反馈方式不对称。

更新日期:2019-04-27
down
wechat
bug