Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback

Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback

To obtain biologically inspired robotic control, the architecture of central pattern generators (CPGs) has been extensively adopted to generate periodic patterns for locomotor control. This is attributed to the interesting properties of nonlinear oscillators. Although sensory feedback in CPGs is not...

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Bibliographic Details
Main Authors: Riccardo Zamboni, Dai Owaki, Mitsuhiro Hayashibe
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-05-01
Series:Frontiers in Robotics and AI
Subjects:
central pattern generator
sensory feedback
tegotae approach
efficiency
optimal control
learning
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.632804/full

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https://www.frontiersin.org/articles/10.3389/frobt.2021.632804/full

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