In this work, we propose the integration of a mechanism to enable smooth transitions between different locomotion patterns in a hexapod robot. Specifically, we utilize a spiking neural network (SNN) functioning as a Central Pattern Generator (CPG) to...
To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resu...
Limited evidence exists for the association between diet pattern and obesity phenotypes among Chinese adults. In the present study, we analyzed the cross-sectional data from 474,192 adults aged 30–79 years from the China Kadoorie Biobank baseline sur...
Mastication is a fundamental rhythmic motor behavior controlled by a brainstem central pattern generator (CPG) located within the pontine and medullary reticular formations. Coordinated activation of jaw-opening and jaw-closing muscles is generated b...
Existing research has preliminarily achieved stable walking in humanoid robots; however, natural human-like leg motion and adaptive capabilities in dynamic environments remain unattained. This paper proposes a bionic central pattern generator (CPG) g...
To implement the various movement control of the hexapod robot, a motion controller based on the double-layered central pattern generator (CPG) is proposed in this paper. The novel CPG network is composed of a rhythm layer and a pattern layer. The CP...
Both robustness and self-repairing of the rhythmic behaviors generated by central pattern generators (CPGs) play significant roles in locomotion control. Although current CPG models have been established to mimic rhythmic outputs, the mechanisms by w...
This paper studies a MuJoCo-based locomotion framework that couples an adaptive-frequency central pattern generator (AFCO-CPG) with single rigid-body dynamics model predictive control (MPC) for the RENS Q1 quadruped with elastic parallel knee joints....
Aiming at the difficult problem of motion control of robotic manta with pectoral fin flexible deformation, this paper proposes a control scheme that combines the bioinspired Central Pattern Generator (CPG) and T-S Fuzzy neural network (NN)-based cont...
Terrain-aware training can support locomotion without requiring terrain-height input at deployment. We present a quadrupedal control framework that combines privileged teacher–student learning with a shared gait-structured sensor-consistency ce...
This work presents an in-depth numerical investigation into a hypothesized two-layer central pattern generator (CPG) that controls mammalian walking and how different parameter choices might affect the stepping of a simulated neuromechanical model. P...
We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, t...
Background/Objectives: As a widely consumed, nutritious, and affordable food, eggs and their derivatives’ impacts on obesity remain inconclusive. In this study, we aimed to determine the association between egg and egg-derived cholesterol consu...
A hexapod robot with biomimetic legs was built to implement a distributed control system, where a mechanism is proposed to serve as the central pattern generator and a computer to act as the brain-stem, cooperating with the central pattern generator...
With the development of inspection robot control technology, wheel-legged robots are increasingly used in complex underground space inspection. To address low stability during obstacle crossing in unstructured terrains, a motion control strategy inte...
Our goal is to design a neuromorphic locomotion controller for a prospective bioinspired quadruped robot driven by artificial muscle actuators. In this paper, we focus on achieving a running gait called a pace, in which the ipsilateral pairs of legs...
This study aimed to present a model of post-scratching locomotion with two intermixed central pattern generator (CPG) networks, one for scratching and another for locomotion. We hypothesized that the rhythm generator layers for each CPG are different...
We propose a method to achieve autonomous gait transition according to speed for a quadruped robot pacing at medium speeds. We verified its effectiveness through experiments with the simulation model and the robot we developed. In our proposed method...
The present discourse links the electrical and chemical properties of the brain with neurotransmitters and movement behaviors to further elucidate strategies to diagnose and treat brain disease. Neuromolecular imaging (NMI), based on electrochemical...
This article introduces a tracked-leg transformable robot, TALBOT. The mechanical and electrical design, control method, and environment perception based on LiDAR are discussed. The original tracked-leg transformable structure allows the robot to swi...
Terrain adaptation research can significantly improve the motion performance of hexapod robots. In this paper, we propose a method that combines reinforcement learning with a central pattern generator (CPG) to enhance the terrain adaptation of hexapo...
Background: Brainstem-related dysphagia represents a complex and severe form of neurogenic dysphagia (ND) arising from lesions that disrupt the central pattern generator (CPG) for swallowing located in the medulla oblongata. Methods: This paper explo...
This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the ph...
In recent decades, robotic locomotion has applied different techniques to emulate central pattern generators (CPGs). The theory of CPG explains the biological functions of motor control in living organisms. This paper presents an unpublished model fo...
This paper presented a flexible and easily fabricated untethered underwater robot inspired by Aurelia, which is named “Au-robot”. The Au-robot is actuated by six radial fins made of shape memory alloy (SMA) artificial muscle modules, whic...
Snake-like robots require body adaptation during locomotion when creeping through environments with obstacles. Central Pattern Generator (CPG) provides an effective way to generate rhythmic signals through parameter modulation. During body-shape adap...
Bio-inspired quadrupedal robots exhibit superior adaptability and mobility in unstructured environments, making them suitable for complex task scenarios such as navigation, obstacle avoidance, and tracking in a variety of environments. Visual percept...
In the domain of bionic walking control for biped robots, optimizing the parameters of the central pattern generator (CPG) presents a formidable challenge due to its high-dimensional and nonlinear characteristics. The traditional particle swarm optim...
Transferring observed gait coordination into executable Central Pattern Generator (CPG) specifications remains challenging because networks are often tuned empirically without systematic links to measured biomechanics. This study presents a biomechan...
Adaptive locomotion across continuous terrain transitions remains difficult for hexapod robots because contact timing, body attitude, support height, and load distribution change simultaneously along a route. This paper presents a unified propriocept...
This paper presents a comparison of four algorithms and identifies the better one in terms of convergence to the best performance for the locomotion of a quadruped robot designed. Three algorithms found in the literature review: a standard Genetic Al...
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Dietary patterns represent a broader picture of food consumption, and are better correlated with a variety of health outcomes. However, few studies have been conducted to explore the associations between dietary patterns and obesity in Southwest Chin...
The timing patterns of animal gaits are produced by a network of spinal neurons called a Central Pattern Generator (CPG). Pinto and Golubitsky studied a four-node CPG for biped dynamics in which each leg is associated with one flexor node and one ext...
For biped robots, the ability to maintain balance under external forces is an essential requirement. Inspired by human beings’ behaviors to resist external forces, a compliant-resistant balance-control method is proposed to keep the biped robot...
Due to external interference, such as waves, the success of underwater missions depends on the turning performance of the vehicle. Manta rays use two broad pectoral fins for propulsion, which provide better anti-interference ability and turning perfo...
We describe and analyze a computational model of neural circuits in the mammalian spinal cord responsible for generating and shaping locomotor-like oscillations. The model represents interacting populations of spinal neurons, including the neurons th...
Aim of the study was to analyze the ability of long-term treated patients with Wilson’s disease (WD) to run a distance of 40 m. 30 WD-patients from a single center were consecutively recruited. All patients were able to walk a distance of 40 m...
Glycine is an important neurotransmitter in vertebrates, performing both excitatory and inhibitory actions. Synaptic levels of glycine are tightly controlled by the action of two glycine transporters, GlyT1 and GlyT2, located on the surface of glial...
Neuronal circuits in the spinal cord are essential for the control of locomotion. They integrate supraspinal commands and afferent feedback signals to produce coordinated rhythmic muscle activations necessary for stable locomotion. For several decade...
This article aimed to evaluate the safety and efficacy of intensive neurorehabilitation in paraplegic cats, with no deep pain perception (grade 0 on the modified Frankel scale), with more than three months of injury. Nine cats, admitted to the Arrábi...
Purpose: This study investigated whether an acute bout of submaximal unilateral arm cycling elicits sustained changes in corticospinal excitability (CSE) and short-interval intracortical inhibition (SICI) in the homologous muscles of the non-exercise...
This is the first study to examine corticospinal excitability (CSE) to antagonistic muscle groups during arm cycling. Transcranial magnetic stimulation (TMS) of the motor cortex and transmastoid electrical stimulation (TMES) of the corticospinal trac...
Pharmacological neuromodulation of swallowing may represent a promising therapeutic option to treat dysphagia. Previous studies suggested a serotonergic control of swallowing, but mechanisms remain poorly understood. Here, we investigated the effects...
Bio-inspired solutions are often taken into account to solve problems that nature took millions of years to deal with. In the field of robotics, when we need to design systems able to perform in unstructured environments, bio-inspiration can be a use...
This paper takes the high-frequency vibration characteristics of a bionic robot fish as the research object. Through research on the vibration characteristics of a bionic fish, we quantified the role of voltage and beat frequency in high-speed and st...
Brain–computer interfaces (BCIs) that integrate virtual reality with tactile feedback are increasingly relevant for neurorehabilitation in spinal cord injury (SCI). In our previous case study employing a BCI-based virtual reality neurorehabilit...
While synchronization in the brain neural networks has been studied, the emergency of the main oscillation frequency and its evolution at different normal and pathological states remains poorly investigated. We propose a new concept of the formation...
Hexapod robots that use external sensors to sense the environment are susceptible to factors such as light intensity or foggy weather. This effect leads to a drastic decrease in the motility of the hexapod robot. This paper proposes a motion control...
In order to improve the walking stability of a biped robot in multiple scenarios and reduce the complexity of the Central Pattern Generator (CPG) model, a new CPG walking controller based on multivariate linear mapping was proposed. At first, in orde...
To address the challenges of sinking, imbalance, and complex control systems faced by hexapod robots walking on lunar soil, this study develops an umbrella-shaped foot lunar exploration hexapod robot. The overall structure of the robot is designed to...
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