Parameter Optimization Of CPG And Its Application In Robot

Abstract

The central pattern generator (CPG) has been identified in the spinal cords as responsible for locomotion movements. It is difficult to select the appropriate values of parameters in CPG model. In this paper, the Matsuoka oscillator is selected as the rhythm-generation model and the bat algorithm is chosen to search the parameters of CPG model. The paper shows the details of the parameters optimization and the diagram of the convergence performance. In the paper, the CPG includes the main rhythm-generation neuron and the minor pattern-formation neuron, and Rowat's neural model is chosen as the pattern-formation neuron. Then the CPG model is applied to the three-link biped robot and the result shows that the method of parameter optimization is effective.