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Paper Abstract and Keywords
Presentation 2024-05-09 13:15
Application of Unidirectionally Coupled Phase Oscillators in a Ring to Central Pattern Generator
Takumi Yoshioka, Kentaro Takeda (Kagawa Univ.) NLP2024-1
Abstract (in Japanese) (See Japanese page) 
(in English) Unidirectionally coupled phase oscillators in a ring are not suitable for application to central pattern generators (CPGs) because they have the coexistence of stable phase-locking solutions, including patterns unrelated to gait.
In this paper, we show that the unidirectionally coupled phase oscillators in a ring can be applied to a CPG for a hexapod robot by using a linear feedback shift register and a comparator to update states at random timing.
We implemented the proposed model in a field programmable gate array (FPGA) and confirmed that a hexapod robot equipped with the FPGA can perform forward movement.
In addition, we compared the occupied hardware resources of the proposed model with those of a conventional CPG model and revealed that the proposed model was implemented by fewer circuit elements.
Keyword (in Japanese) (See Japanese page) 
(in English) Central pattern generator (CPG) / coupled oscillators / synchronization / field programmable gate array (FPGA) / hexapod robot / / /  
Reference Info. IEICE Tech. Rep., vol. 124, no. 13, NLP2024-1, pp. 1-6, May 2024.
Paper # NLP2024-1 
Date of Issue 2024-05-02 (NLP) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
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 NLP2024-1

Conference Information
Committee NLP  
Conference Date 2024-05-09 - 2024-05-10 
Place (in Japanese) (See Japanese page) 
Place (in English) Kagawa Prefecture Social Welfare Center 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Nonlinear Problems, etc. 
Paper Information
Registration To NLP 
Conference Code 2024-05-NLP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Application of Unidirectionally Coupled Phase Oscillators in a Ring to Central Pattern Generator 
Sub Title (in English)  
Keyword(1) Central pattern generator (CPG)  
Keyword(2) coupled oscillators  
Keyword(3) synchronization  
Keyword(4) field programmable gate array (FPGA)  
Keyword(5) hexapod robot  
Keyword(6)  
Keyword(7)  
Keyword(8)  
1st Author's Name Takumi Yoshioka  
1st Author's Affiliation Kagawa University (Kagawa Univ.)
2nd Author's Name Kentaro Takeda  
2nd Author's Affiliation Kagawa University (Kagawa Univ.)
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Speaker Author-1 
Date Time 2024-05-09 13:15:00 
Presentation Time 25 minutes 
Registration for NLP 
Paper # NLP2024-1 
Volume (vol) vol.124 
Number (no) no.13 
Page pp.1-6 
#Pages 6 
Date of Issue 2024-05-02 (NLP) 

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