Скачать или смотреть A programmable central pattern generator with bounded output

To generate and control cyclic motions, modern control architectures are composed of several nested loops, from outer to inner, trajectory optimization, online trajectory generation, and instantaneous control.
This video, through the simulations and experiments on humanoid robot iCub, shows that a Central Pattern Generator (CPG) can be effectively used for the online generation of a smooth, bounded, and synchronized trajectory from a library of desired periodic trajectories.
The CPG used consists of a synchronized network of multiple bounded output programmable oscillators.

The paper is presented in IEEE Conference on Decision and Control, 2019.
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