The rhythmic movement is a spontaneous behavior due to the central pattern generator （CPG）. At present, the CPG model only shows the spontaneous behavior, but does not refer to the instruction regulation role of the...The rhythmic movement is a spontaneous behavior due to the central pattern generator （CPG）. At present, the CPG model only shows the spontaneous behavior, but does not refer to the instruction regulation role of the cerebral cortex. In this paper, a modified model based on the Matsuoka neural oscillator theory is presented to better show the regulation role of the cerebral cortex signal to the CPG neuronal network. The complex interaction between the input signal and other parameters in the CPG network is established, making all parameters of the CPG vary with the input signal. In this way, the effect of the input signal to the CPG network is enhanced so that the CPG network can express the self-regulation movement state instead of being limited to the spontaneous behavior, and thus the regulation role of the cerebral cortex signal can be reflected. Numerical simulation shows that the modified model can generate various movement forms with different modes, frequencies, and interchanges between them. It is revealed in theories that the cerebral cortex signal can regulate the mode and frequency of the gait in the ~ourse of the gait movement.展开更多
通过分析生物节律运动机理,提出基于中枢模式发生器模型的步态控制方法。利用改进的Van der pol方程构造非线性振子作为单个CPG的数学模型。采用KB法得到振荡神经元一阶近似周期解,在此基础上设计具有线性反馈项的环状CPG网络模型,并给...通过分析生物节律运动机理,提出基于中枢模式发生器模型的步态控制方法。利用改进的Van der pol方程构造非线性振子作为单个CPG的数学模型。采用KB法得到振荡神经元一阶近似周期解,在此基础上设计具有线性反馈项的环状CPG网络模型,并给出了控制机器人步态协调运动方法。仿真结果验证了基于CPG模型的控制方法可以有效生成节律运动的常规步态并实现步态切换。展开更多
基金supported by the National Natural Science Foundation of China (Nos.10872068 and 10672057)the Fundamental Research Fund for the Central Universities
文摘The rhythmic movement is a spontaneous behavior due to the central pattern generator （CPG）. At present, the CPG model only shows the spontaneous behavior, but does not refer to the instruction regulation role of the cerebral cortex. In this paper, a modified model based on the Matsuoka neural oscillator theory is presented to better show the regulation role of the cerebral cortex signal to the CPG neuronal network. The complex interaction between the input signal and other parameters in the CPG network is established, making all parameters of the CPG vary with the input signal. In this way, the effect of the input signal to the CPG network is enhanced so that the CPG network can express the self-regulation movement state instead of being limited to the spontaneous behavior, and thus the regulation role of the cerebral cortex signal can be reflected. Numerical simulation shows that the modified model can generate various movement forms with different modes, frequencies, and interchanges between them. It is revealed in theories that the cerebral cortex signal can regulate the mode and frequency of the gait in the ~ourse of the gait movement.
文摘通过分析生物节律运动机理,提出基于中枢模式发生器模型的步态控制方法。利用改进的Van der pol方程构造非线性振子作为单个CPG的数学模型。采用KB法得到振荡神经元一阶近似周期解,在此基础上设计具有线性反馈项的环状CPG网络模型,并给出了控制机器人步态协调运动方法。仿真结果验证了基于CPG模型的控制方法可以有效生成节律运动的常规步态并实现步态切换。
