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Paper Abstract and Keywords
Presentation 2016-01-29 11:55
Reproduction of Quadrupedal Gait Patterns Using a Coupled Hardware Nonlinear Oscillators
Satoshi Oyake, Akihiro Maruyama (Niigata Univ), Taishin Nomura (Osaka Univ), Yoshinobu Maeda (Niigata Univ) CAS2015-75
Abstract (in Japanese) (See Japanese page) 
(in English) In the mammalian spinal cord, a central pattern generator (CPG) is supposed to be as neural networks. The CPG is responsible for producing locomotor rhythms periodically, and the rhythms are propagated down to flexor and extensor legs. So far, Maeda et al. have constructed a hardware CPG model from the mathematical description, and, using it, reproduced oscillation behaviors corresponding to some quadrupedal gaits of four-legged animals. Also, in the hardware CPG model proposed, Maruyama et al. reproduced typical gaits, “walking”, “trotting”, and “bounding” only by switching one parameter, voltage VMLR. However, the CPG model and the network structure were very complicated, so that the bifurcation analysis was difficult. In this technical report we suggested a new oscillator network reproducing some quadrupedal gaits. It could be analyzed because it was relatively simple and reduced from the above model proposed by Maruyama et al.
Keyword (in Japanese) (See Japanese page) 
(in English) Central pattern generator / Quadrupedal locomotion / Bifurcation / Symmetry / / / /  
Reference Info. IEICE Tech. Rep., vol. 115, no. 422, CAS2015-75, pp. 79-83, Jan. 2016.
Paper # CAS2015-75 
Date of Issue 2016-01-21 (CAS) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CAS2015-75

Conference Information
Committee CAS  
Conference Date 2016-01-28 - 2016-01-29 
Place (in Japanese) (See Japanese page) 
Place (in English) Kikai-Shinko-Kaikan Bldg. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To CAS 
Conference Code 2016-01-CAS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Reproduction of Quadrupedal Gait Patterns Using a Coupled Hardware Nonlinear Oscillators 
Sub Title (in English)  
Keyword(1) Central pattern generator  
Keyword(2) Quadrupedal locomotion  
Keyword(3) Bifurcation  
Keyword(4) Symmetry  
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1st Author's Name Satoshi Oyake  
1st Author's Affiliation Niigata University (Niigata Univ)
2nd Author's Name Akihiro Maruyama  
2nd Author's Affiliation Niigata University (Niigata Univ)
3rd Author's Name Taishin Nomura  
3rd Author's Affiliation Osaka University (Osaka Univ)
4th Author's Name Yoshinobu Maeda  
4th Author's Affiliation Niigata University (Niigata Univ)
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Speaker Author-1 
Date Time 2016-01-29 11:55:00 
Presentation Time 25 minutes 
Registration for CAS 
Paper # CAS2015-75 
Volume (vol) vol.115 
Number (no) no.422 
Page pp.79-83 
#Pages 5 
Date of Issue 2016-01-21 (CAS) 

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