1,024 research outputs found
Evolution of central pattern generators for the control of a five-link bipedal walking mechanism
Central pattern generators (CPGs), with a basis is neurophysiological
studies, are a type of neural network for the generation of rhythmic motion.
While CPGs are being increasingly used in robot control, most applications are
hand-tuned for a specific task and it is acknowledged in the field that generic
methods and design principles for creating individual networks for a given task
are lacking. This study presents an approach where the connectivity and
oscillatory parameters of a CPG network are determined by an evolutionary
algorithm with fitness evaluations in a realistic simulation with accurate
physics. We apply this technique to a five-link planar walking mechanism to
demonstrate its feasibility and performance. In addition, to see whether
results from simulation can be acceptably transferred to real robot hardware,
the best evolved CPG network is also tested on a real mechanism. Our results
also confirm that the biologically inspired CPG model is well suited for legged
locomotion, since a diverse manifestation of networks have been observed to
succeed in fitness simulations during evolution.Comment: 11 pages, 9 figures; substantial revision of content, organization,
and quantitative result
Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module
The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project
Evolution strategies combined with central pattern generators for head motion minimization during quadruped robot locomotion
In autonomous robotics, the head shaking induced
by locomotion is a relevant and still not solved problem. This
problem constraints stable image acquisition and the possibility
to rely on that information to act accordingly.
In this article, we propose a movement controller to generate
locomotion and head movement. Our aim is to generate the
head movement required to minimize the head motion induced
by locomotion itself. The movement controllers are biologically
inspired in the concept of Central Pattern Generators (CPGs).
CPGs are modelled based on nonlinear dynamical systems,
coupled Hopf oscillators. This approach allows to explicitly
specify parameters such as amplitude, offset and frequency of
movement and to smoothly modulate the generated oscillations
according to changes in these parameters. Based on these
ideas, we propose a combined approach to generate head
movement stabilization on a quadruped robot, using CPGs and
an evolution strategy. The best set of parameters that generates
the head movement are computed by an evolution strategy.
Experiments were performed on a simulated AIBO robot.
The obtained results demonstrate the feasibility of the approach,
by reducing the overall head movement
Combining central pattern generators with the electromagnetism-like algorithm for head motion stabilization during quadruped robot locomotion
Visually-guided locomotion is important for autonomous robotics. However, there are several difficulties, for instance, the head shaking that results from the robot locomotion itself that constraints stable image acquisition and the possibility to rely on that information to act accordingly. In this article, we propose a controller architecture that is able to generate locomotion for a quadruped robot and to generate head motion able to minimize the head motion induced by locomotion itself. The movement controllers are biologically
inspired in the concept of Central Pattern Generators (CPGs). CPGs are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows to explicitly specify parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. We take advantage of this particularity and propose a combined approach to
generate head movement stabilization on a quadruped robot, using CPGs and a global optimization algorithm. The best set of parameters that generates the head movement are computed by the electromagnetism-like algorithm in order to reduce the head shaking caused by locomotion. Experimental results on a simulated AIBO robot demonstrate that the proposed approach generates head movement that does not eliminate but reduces the one induced by locomotion
Evoked responses to rhythmic visual stimulation vary across sources of intrinsic alpha activity in humans
Rhythmic flickering visual stimulation produces steady-state visually evoked potentials (SSVEPs) in electroencephalogram (EEG) recordings. Based on electrode-level analyses, two dichotomous models of the underpinning mechanisms leading to SSVEP generation have been proposed: entrainment or superposition, i.e., phase-alignment or independence of endogenous brain oscillations from flicker-induced oscillations, respectively. Electrode-level analyses, however, represent an averaged view of underlying ‘source-level’ activity, at which variability in SSVEPs may lie, possibly suggesting the co-existence of multiple mechanisms. To probe this idea, we investigated the variability of SSVEPs derived from the sources underpinning scalp EEG responses during presentation of a flickering radial checkerboard. Flicker was presented between 6 and 12 Hz in 1 Hz steps, and at individual alpha frequency (IAF i.e., the dominant frequency of endogenous alpha oscillatory activity). We tested whether sources of endogenous alpha activity could be dissociated according to evoked responses to different flicker frequencies relative to IAF. Occipitoparietal sources were identified by temporal independent component analysis, maximal resting-state alpha power at IAF and source localisation. The pattern of SSVEPs to rhythmic flicker relative to IAF was estimated by correlation coefficients, describing the correlation between the peak-to-peak amplitude of the SSVEP and the absolute distance of the flicker frequency from IAF across flicker conditions. We observed extreme variability in correlation coefficients across sources, ranging from −0.84 to 0.93, with sources showing largely different coefficients co-existing within subjects. This result demonstrates variation in evoked responses to flicker across sources of endogenous alpha oscillatory activity. Data support the idea of multiple SSVEP mechanisms
Hierarchical Control for Bipedal Locomotion using Central Pattern Generators and Neural Networks
The complexity of bipedal locomotion may be attributed to the difficulty in
synchronizing joint movements while at the same time achieving high-level
objectives such as walking in a particular direction. Artificial central
pattern generators (CPGs) can produce synchronized joint movements and have
been used in the past for bipedal locomotion. However, most existing CPG-based
approaches do not address the problem of high-level control explicitly. We
propose a novel hierarchical control mechanism for bipedal locomotion where an
optimized CPG network is used for joint control and a neural network acts as a
high-level controller for modulating the CPG network. By separating motion
generation from motion modulation, the high-level controller does not need to
control individual joints directly but instead can develop to achieve a higher
goal using a low-dimensional control signal. The feasibility of the
hierarchical controller is demonstrated through simulation experiments using
the Neuro-Inspired Companion (NICO) robot. Experimental results demonstrate the
controller's ability to function even without the availability of an exact
robot model.Comment: In: Proceedings of the Joint IEEE International Conference on
Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Oslo,
Norway, Aug. 19-22, 201
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