TY - JOUR ID - 4404 TI - GAIT GENERATION AND TRANSITION FOR BIPEDAL LOCOMOTION SYSTEM USING MORRIS-LECAR MODEL OF CENTRAL PATTERN GENERATOR JO - Scientia Iranica JA - SCI LA - en SN - 1026-3098 AU - SAYYED NOORANI, MOHAMMAD-REZA AU - FARSHBAF RASHIDI, SAHAR AU - SHOARAN, MARYAM AD - Rehabilitation Robotics Research Lab., Department of Mechatronics Engineering, University of Tabriz, P.O. Box 5166614761, Tabriz, Iran AD - Department of Mechatronics Engineering, University of Tabriz, P.O. Box 5166614761, Tabriz, Iran Y1 - 2018 PY - 2018 VL - 25 IS - 6 SP - 3591 EP - 3603 KW - Central Pattern Generator (CPG) KW - Gait Transition KW - Bipedal Locomotion KW - Morris-Lecar Non-linear Oscillator KW - Genetic Algorithm DO - 10.24200/sci.2017.4404 N2 - In this paper, we intend to improve the CPG network presented by Pinto et al. based on 4-cell model for bipedal locomotion systems. This model is composed of four coupled identical cells which internal dynamics of each one is described by the Morris-Lecar nonlinear differential equation and the couplings between the cells follow the synaptic type. We exploit an elitist non-dominated sorting genetic algorithm (NSGA II) to find the best set of coupling weights by which the phase differences become optimally close to the ones required for a primary bipedal gait. Thus, we achieve the rhythmic signals associated with four primary bipedal gaits of walk, run, two-legged jump, and two-legged hop. Also, we successfully obtain all secondary gaits corresponding to the bipedal locomotion identified by Pinto et al. from the 4-cell model, by symmetry breaking bifurcations of primary gaits. Particularly, we are able to produce the secondary gait called “hesitation walk” through transition from primary gaits of run and two-legged jump. UR - https://scientiairanica.sharif.edu/article_4404.html L1 - https://scientiairanica.sharif.edu/article_4404_2536bc447019a17f3ef4f57333236f33.pdf ER -