Evaluation and optimization of nonlinear central pattern generators for robotic locomotion

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2018

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Control Engineering and Applied Informatics Journal

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Department of Mechatronics Engineering
Our purpose in the program is to educate our students for contributing to universal knowledge by doing research on contemporary mechatronics engineering problems and provide them with design, production and publication skills. To reach this goal our post graduate students are offered courses in various areas of mechatronics engineering, encouraged to do research to develop their expertise and their creative side, as well as develop analysis and design skills.
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Mathematics
(2000)
The Atılım University Department of Mathematics was founded in 2000 and it offers education in English. The Department offers students the opportunity to obtain a certificate in Mathematical Finance or Cryptography, aside from their undergraduate diploma. Our students may obtain a diploma secondary to their diploma in Mathematics with the Double-Major Program; as well as a certificate in their minor alongside their diploma in Mathematics through the Minor Program. Our graduates may pursue a career in academics at universities, as well as be hired in sectors such as finance, education, banking, and informatics. Our Department has been accredited by the evaluation and accreditation organization FEDEK for a duration of 5 years (until September 30th, 2025), the maximum FEDEK accreditation period achievable. Our Department is globally and nationally among the leading Mathematics departments with a program that suits international standards and a qualified academic staff; even more so for the last five years with our rankings in the field rankings of URAP, THE, USNEWS and WEBOFMETRIC.

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Abstract

With regard to the optimization of Central Pattern Generators (CPGs) for bipedal locomotion in robots, this paper investigates how the different cases of CPGs such as uncoupled, unidirectional, bidirectional two CPGs are used to produce rhythmic patterns for one leg with two degrees of freedom (DOF). This paper also discusses the stability analysis of CPGs and attempts to utilize genetic algorithms with the hybrid function and adapts the CPGs to robotic systems that perform one-leg movement, by utilizing the bidirectional two CPGs. The results show far greater improvement than in the other cases. CPGs not only enhance movement but also control locomotion without any sensory feedback. © 2018 Control Engineering and Applied Informatics Journal.

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Keywords

A strategy to couple CPGs, Central Patterns Generators (CPGs), One leg model, Optimizing CPGs, Stability analysis

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1

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Source

Control Engineering and Applied Informatics

Volume

20

Issue

3

Start Page

89

End Page

98

URI

https://hdl.handle.net/20.500.14411/9494

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Scopus