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《Journal of Beijing Institute of Machinery》 2007-04
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Introduction of non-linear oscillator model of CPGs

WANG Fei-fei,ZHANG Qi-zhi,ZHOU Ya-li(Department of Computer Science & Automation,Beijing Institute of Machinery,Beijing 100085,China)  
Several kinds of mathematical models of the non-linear oscillator are studied as a basic unit of biped robot based on central pattern generators(CPGs).An example is also given to show how to design the CPGs with Matsuoka oscillator for five-link biped robot.The simulation result shows that the rhythm signal produced from the CPGs network is stable and reliable,and every mathematical model of non-linear oscillator forming CPGs can produce steady periodicity signal.It is possible to control the amplitude and the frequency of the signal independently through adjustment of parameters of non-linear oscillator.
【Fund】: 北京市属市管高教人才强教计划资助项目(PXM2007-014224-044655);; 北京市优秀人才培养资助(20061D05500600164)
【CateGory Index】: TN752
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