Related papers: Generalized half-center oscillators with short-ter…
This paper presents a method for reproducing a simple central pattern generator (CPG) using a modified Echo State Network (ESN). Conventionally, the dynamical reservoir needs to be damped to stabilize and preserve memory. However, we find…
Computational models of the respiratory central pattern generator (rCPG) are usually based on biologically-plausible Hodgkin Huxley neuron models. Such models require numerous parameters and thus are prone to overfitting. The HH approach is…
Entrainment of movement to a periodic stimulus is a characteristic intelligent behaviour in humans and an important goal for adaptive robotics. We demonstrate a quadruped central pattern generator (CPG), consisting of modified Matsuoka…
Periodic signals propagating along chains are common in biology, for example in locomotion and peristalsis, and are also of interest for continuum robots. In previous work we constructed such networks as 'feedforward lifts' of a central…
Coupled arrays of Andronov-Hopf oscillators are investigated. These arrays can be diffusively or repulsively coupled, and can serve as central pattern generator models in animal locomotion and robotics. It is shown that repulsive coupling…
Coupling among neural rhythms is one of the most important mechanisms at the basis of cognitive processes in the brain. In this study we consider a neural mass model, rigorously obtained from the microscopic dynamics of an inhibitory…
We identify and describe the key qualitative rhythmic states in various 3-cell network motifs of a multifunctional central pattern generator (CPG). Such CPGs are neural microcircuits of cells whose synergetic interactions produce multiple…
We present a novel framework for central pattern generator design that leverages the intrinsic rebound excitability of neurons in combination with winner-takes-all computation. Our approach unifies decision-making and rhythmic pattern…
In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change…
A generalized version of the Wilson-Cowan (WC) model is proposed which accounts for the evolution of the synaptic resources. Adiabatic elimination of the fast variables is performed to yield a simplified framework for the coupled…
We design a system of phase oscillators that is able to produce temporally periodic sequences of patterns. Patterns are cluster partitions which encode information as phase differences between phase oscillators. The architecture of our…
Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this…
We analyze the dynamics of the neural circuit of the lamprey central pattern generator (CPG). This analysis provides insights into how neural interactions form oscillators and enable spontaneous oscillations in a network of damped…
In this paper, an incommensurate fractional order (FO) model has been proposed to generate ECG like waveforms. Earlier investigation of ECG like waveform generation is based on two identical Van-der Pol (VdP) family of oscillators which are…
It has always been a challenge in the neuromorphic field to systematically translate biological models into analog electronic circuitry. In this paper, a generalized circuit design platform is introduced where biological models can be…
Biological studies reveal that neural circuits located at the spinal cord called central pattern generator (CPG) oscillates and generates rhythmic signals, which are the underlying mechanism responsible for rhythmic locomotion behaviors of…
Emerging technologies are revealing the spiking activity in ever larger neural ensembles. Frequently, this spiking is far from independent, with correlations in the spike times of different cells. Understanding how such correlations impact…
Central Pattern Generators (CPGs) models have been long used to investigate both the neural mechanisms that underlie animal locomotion as well as a tool for robotic research. In this work we propose a spiking CPG neural network and its…
The purpose of this paper is trifold -- to serve as an instructive resource and a reference catalog for biologically plausible modeling with i) conductance-based models, coupled with ii) strength-varying slow synapse models, culminating in…
We propose a quite general model of active media by consideration of the interaction between pacemakers via their phase response curves. This model describes a network of pulse oscillators coupled by their response to the internal…