Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4265
Título: Fractional central pattern generators for bipedal locomotion
Autor: Pinto, Carla M.A.
Machado, J.A.Tenreiro
Palavras-chave: Central pattern generators
Locomotion
Fractional
Symmetry
Bifurcation
Data: 2010
Editora: Springer
Relatório da Série N.º: Nonlinear Dynamics; Vol. 62, Issue 1-2
Resumo: Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4265
ISSN: 0924-090X
1573-269X
Versão do Editor: http://link.springer.com/article/10.1007%2Fs11071-010-9696-4
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