NDLI: Configuring of Spiking Central Pattern Generator Networks for Bipedal Walking Using Genetic Algorthms

Content Provider	IEEE Xplore Digital Library
Author	Russell, A. Orchard, G. Etienne-Cummings, R.
Copyright Year	2007
Description	Author affiliation: Dept. of Electr. Eng., Cape Town Univ., Rondebosch (Russell, A.)
Abstract	In limbed animals, spinal neural circuits responsible for controlling muscular activities during walking are called central pattern generators (CPG). CPG networks display oscillatory activities that actuates individual or groups of muscles in a coordinated fashion so that the limbs of the animal are flexed and extended at the appropriate time and with the required velocity for the animal to efficiently traverse various types of terrain, and to recover from environmental perturbation. Typically, the CPG networks are constructed with many neurons, each of which has a number of control parameters. As the number of muscles increases, it is often impossible to manually, albeit intelligently, select the network parameters for a particular movement. Furthermore, it is virtually impossible to reconfigure the parameters on-line. This paper describes how genetic algorithms (GA) can be used for on-line (re)configuring of CPG networks for a bipedal robot. We show that the neuron parameters and connection weights/network topology of a canonical walking network can be reconfigured within a few of generations of the GA. The networks, constructed with integrate-and-fire-with-adaptation (IFA) neurons, are implemented with a microcontroller and can be reconfigured to vary walking speed from 0.5Hz to 3.5Hz. The phase relationship between the hips and knees can be arbitrarily set (to within 1 degree) and prescribed complex joint angle profiles are realized. This is a powerful approach to generating complex muscle synergies for robots with multiple joints and distributed actuators.
Starting Page	1525
Ending Page	1528
File Size	367759
Page Count	4
File Format	PDF
ISBN	1424409209
DOI	10.1109/ISCAS.2007.378701
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-05-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Genetics Animals Muscles Neurons Robot kinematics Circuits Centralized control Displays Intelligent networks
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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