Related papers: Stable Synchronous Propagation of Signals by Feedf…
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…
Rhythmic gait patterns in animal locomotion are widely believed to be produced by a central pattern generator (CPG), a network of neurons that drives the muscle groups. In previous papers we have discussed how phase-synchronous signals can…
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…
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…
We present a model of the central pattern generator (CPG) network that can control gait transitions in hexapod robots in a simple manner based on phase reduction. The CPG network consists of six weakly coupled limit-cycle oscillators, whose…
A variety of nonlinear models of biological systems generate complex chaotic behaviors that contrast with biological homeostasis, the observation that many biological systems prove remarkably robust in the face of changing external or…
This article deals with stability of continuous-time switched linear systems under constrained switching. Given a family of linear systems, possibly containing unstable dynamics, we characterize a new class of switching signals under which…
We obtain sufficient conditions for the stability of the synchronized solutions for a class of coupled dynamical systems. This is accomplished by finding an analytical expression for the transverse Liapunov exponent through spectral…
Sparse random networks contain structures that can be considered as diluted feed-forward networks. Modeling of cortical circuits has shown that feed-forward structures, if strongly pronounced compared to the embedding random network, enable…
We study a class of matrices with a rank-1 interconnection structure, and derive a simple necessary and sufficient condition for diagonal stability. The underlying Lyapunov function is used to provide sufficient conditions for diagonal…
The stability analysis of synchronization patterns on generalized network structures is of immense importance nowadays. In this article, we scrutinize the stability of intralayer synchronous state in temporal multilayer hypernetworks, where…
Central Pattern Generators (CPGs) are biological neural circuits capable of producing coordinated rhythmic outputs in the absence of rhythmic input. As a result, they are responsible for most rhythmic motion in living organisms. This…
Distributed consensus-based controllers for optimal secondary frequency regulation of microgrids and power systems have received substantial attention in recent years. This paper provides a Lyapunov-based proof that, under a time-scale…
Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional…
An originally chaotic system can be controlled into various periodic dynamics. When it is implemented into a legged robot's locomotion control as a central pattern generator (CPG), sophisticated gait patterns arise so that the robot can…
Stability is a fundamental property of dynamical systems, yet to this date it has had little bearing on the practice of recurrent neural networks. In this work, we conduct a thorough investigation of stable recurrent models. Theoretically,…
For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…
Legged locomotion is a challenging task in the field of robotics but a rather simple one in nature. This motivates the use of biological methodologies as solutions to this problem. Central pattern generators are neural networks that are…
Networks of neural mass nodes with delayed interactions are increasingly being used as models for large-scale brain activity. To complement the growing number of computational studies of such networks, it is timely to develop new…
The gait generator, which is capable of producing rhythmic signals for coordinating multiple joints, is an essential component in the quadruped robot locomotion control framework. The biological counterpart of the gait generator is the…