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Introducing a nonlinear coupling for central pattern generator: Improvement on robustness by expanding basin of attraction and performance by decreasing the transient time
Journal of Vibration and Control ( IF 2.8 ) Pub Date : 2020-01-27 , DOI: 10.1177/1077546319889853 Alireza Bahramian 1 , Ali Nouri 1 , Farzad Towhidkhah 1 , Hamed Azarnoush 1 , Sajad Jafari 1
Journal of Vibration and Control ( IF 2.8 ) Pub Date : 2020-01-27 , DOI: 10.1177/1077546319889853 Alireza Bahramian 1 , Ali Nouri 1 , Farzad Towhidkhah 1 , Hamed Azarnoush 1 , Sajad Jafari 1
Affiliation
Different types of models have been introduced for central pattern generators mostly based on coupled nonlinear oscillators. One of the most important responsibilities of a central pattern generators is to make an acceptable phase for each limb to make a stable motion. In nonlinear oscillators, the phase difference is made by means of commensurate coupling between them. Linear coupling between oscillators has been widely used in the literature. It is used to make a suitable phase difference between oscillators appropriate to the kind of motion (e.g. walking and running). In this research, it is shown that there are some coexisting attractors in the same coupling, in which phases between oscillators are not ideal to generate rhythms of motion. Consequently, there will be some undesired oscillator states, in which their functionality is significantly decreased. In this article, a novel nonlinear coupling is introduced as a solution for this problem to have a more robust central pattern generators by tackling inappropriate attractors and expanding the basin of attraction of the suitable attractor. In addition, this nonlinear coupling for central pattern generators cues arrived their steady state 2.8 times faster than central pattern generators with linear ones.
中文翻译:
为中央模式发生器引入非线性耦合:通过扩大吸引盆和通过减少瞬态时间来提高鲁棒性
已经针对主要基于耦合非线性振荡器的中央模式发生器引入了不同类型的模型。中央模式发生器的最重要职责之一是使每个肢体都能接受一个稳定的运动相位。在非线性振荡器中,相位差是通过它们之间的相应耦合来实现的。振荡器之间的线性耦合已在文献中广泛使用。它用于在振荡器之间产生适合于某种运动(例如步行和跑步)的适当相位差。在这项研究中,表明在同一耦合中存在一些共存的吸引子,其中振荡器之间的相位不是理想的产生运动节奏的方式。因此,会有一些不希望的振荡器状态,它们的功能大大降低了。在本文中,通过解决不合适的吸引子并扩大合适吸引子的吸引力范围,引入了一种新颖的非线性耦合作为解决此问题的解决方案,使其具有更强大的中央模式发生器。另外,用于中心模式发生器提示的这种非线性耦合比具有线性模式发生器的中心模式生成器达到稳态快2.8倍。
更新日期:2020-01-27
中文翻译:
为中央模式发生器引入非线性耦合:通过扩大吸引盆和通过减少瞬态时间来提高鲁棒性
已经针对主要基于耦合非线性振荡器的中央模式发生器引入了不同类型的模型。中央模式发生器的最重要职责之一是使每个肢体都能接受一个稳定的运动相位。在非线性振荡器中,相位差是通过它们之间的相应耦合来实现的。振荡器之间的线性耦合已在文献中广泛使用。它用于在振荡器之间产生适合于某种运动(例如步行和跑步)的适当相位差。在这项研究中,表明在同一耦合中存在一些共存的吸引子,其中振荡器之间的相位不是理想的产生运动节奏的方式。因此,会有一些不希望的振荡器状态,它们的功能大大降低了。在本文中,通过解决不合适的吸引子并扩大合适吸引子的吸引力范围,引入了一种新颖的非线性耦合作为解决此问题的解决方案,使其具有更强大的中央模式发生器。另外,用于中心模式发生器提示的这种非线性耦合比具有线性模式发生器的中心模式生成器达到稳态快2.8倍。