作者: Hooshang Hemami , Zahra Moussavi
DOI: 10.1080/10255842.2012.751983
关键词:
摘要: A basal ganglia central pattern generator (CPG) is developed and its role in voluntary movements on the ground postural reactions a disturbed platform are studied analysed by simulation. Biped dynamics kinematics utilised. The effects of agonist-antagonist muscular co-activation joint stiffness formulated. implementation necessary counter-manoeuvres for maintaining balance stability studied. control strategy, applicable to large systems, biped manoeuvres transitions terminate pre-specified intervals time. Gravity included compensated for. Certain adjustment strategies same but initiated differently. Further experimental/computational research may identify nervous system sensory paths that lead CPG. All actuator forces linearly evolve time from their original values terminal values. There no continuous feedback loops present. Monitoring sensing, however, ongoing. based learned human-like triggered disturbance. required inputs musculoskeletal designed functional structure CPG proposed. effect certain disorders malfunctions