Evaluation and Optimization of Nonlinear Central Pattern Generators for Robotic Locomotion

dc.authorid Turan, Mehmet/0000-0002-1718-3902
dc.authorscopusid 57194219442
dc.authorscopusid 35782583700
dc.authorscopusid 24438001000
dc.authorwosid Elbori, Abdalftah/ABD-1369-2020
dc.authorwosid Turan, Mehmet/JYQ-4459-2024
dc.contributor.author Elbori, Abdalftah
dc.contributor.author Turan, Mehmet
dc.contributor.author Arikan, Kutluk Bilge
dc.contributor.other Department of Mechatronics Engineering
dc.contributor.other Mathematics
dc.contributor.other Department of Mechatronics Engineering
dc.contributor.other Mathematics
dc.date.accessioned 2024-10-06T10:58:08Z
dc.date.available 2024-10-06T10:58:08Z
dc.date.issued 2018
dc.department Atılım University en_US
dc.department-temp [Elbori, Abdalftah] Azzaytuna Univ, Dept Math, Tarhuna, Libya; [Turan, Mehmet] Atilim Univ, Dept Math, TR-06836 Ankara, Turkey; [Arikan, Kutluk Bilge] TED Univ, Dept Mech Engn, TR-06420 Ankara, Turkey en_US
dc.description Turan, Mehmet/0000-0002-1718-3902 en_US
dc.description.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. en_US
dc.description.woscitationindex Science Citation Index Expanded
dc.identifier.citationcount 1
dc.identifier.endpage 98 en_US
dc.identifier.issn 1454-8658
dc.identifier.issue 3 en_US
dc.identifier.scopus 2-s2.0-85053699496
dc.identifier.scopusquality Q3
dc.identifier.startpage 89 en_US
dc.identifier.uri https://hdl.handle.net/20.500.14411/8856
dc.identifier.volume 20 en_US
dc.identifier.wos WOS:000447357200009
dc.identifier.wosquality Q4
dc.institutionauthor Turan, Mehmet
dc.institutionauthor Arıkan, Kutluk Bilge
dc.institutionauthor Turan, Mehmet
dc.institutionauthor Arıkan, Kutluk Bilge
dc.language.iso en en_US
dc.publisher Romanian Soc Control Tech informatics en_US
dc.relation.ispartof Control Engineering and Applied Informatics en_US
dc.relation.publicationcategory Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı en_US
dc.rights info:eu-repo/semantics/closedAccess en_US
dc.scopus.citedbyCount 1
dc.subject Central Patterns Generators (CPGs) en_US
dc.subject one leg model en_US
dc.subject a strategy to couple CPGs en_US
dc.subject stability analysis en_US
dc.subject optimizing CPGs en_US
dc.title Evaluation and Optimization of Nonlinear Central Pattern Generators for Robotic Locomotion en_US
dc.type Article en_US
dc.wos.citedbyCount 1
dspace.entity.type Publication
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