Design of a Central Pattern Generator for Bionic-robot Joint with Angular Frequency Modulation

摘要

The paper proposes an artificial central pattern generator (CPG) for bionic-robot joint control. The neural oscillator adopted to produce rhythmic pattern is specially designed from original sin-cosine oscillator model. An amplitude neural estimator consisted of two neurons is presented to provide sensor feedback to CPG control. The artificial CPG can adapt itself to the physical system parameters variety by rhythmic movement angular frequency modulation.