Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Journal articles
  4. Central pattern generators for locomotion control in animals and robots: a review
 
Loading...
Thumbnail Image
research article

Central pattern generators for locomotion control in animals and robots: a review

Ijspeert, Auke Jan  
2008
Neural Networks

The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coordinated patterns of high-dimensional rhythmic output signals while receiving only simple, lowdimensional, input signals. The review will first cover neurobiological observations concerning locomotor CPGs and their numerical modelling, with a special focus on vertebrates. It will then cover how CPG models implemented as neural networks or systems of coupled oscillators can be used in robotics for controlling the locomotion of articulated robots. The review also presents how robots can be used as scientific tools to obtain a better understanding of the functioning of biological CPGs. Finally, various methods for designing CPGs to control specific modes of locomotion will be briefly reviewed. In this process, I will discuss different types of CPG models, the pros and cons of using CPGs with robots, and the pros and cons of using robots as scientific tools. Open research topics both in biology and in robotics will also be discussed.

  • Details
  • Metrics
Type
research article
DOI
10.1016/j.neunet.2008.03.014
Web of Science ID

WOS:000257639800009

Author(s)
Ijspeert, Auke Jan  
Date Issued

2008

Published in
Neural Networks
Volume

21

Issue

4

Start page

642

End page

653

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
BIOROB  
Available on Infoscience
June 17, 2008
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/26294
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés