%0 Journal Article
%T GAIT GENERATION AND TRANSITION FOR BIPEDAL LOCOMOTION SYSTEM USING MORRIS-LECAR MODEL OF CENTRAL PATTERN GENERATOR
%J Scientia Iranica
%I Sharif University of Technology
%Z 1026-3098
%A SAYYED NOORANI, MOHAMMAD-REZA
%A FARSHBAF RASHIDI, SAHAR
%A SHOARAN, MARYAM
%D 2018
%\ 12/01/2018
%V 25
%N 6
%P 3591-3603
%! GAIT GENERATION AND TRANSITION FOR BIPEDAL LOCOMOTION SYSTEM USING MORRIS-LECAR MODEL OF CENTRAL PATTERN GENERATOR
%K Central Pattern Generator (CPG)
%K Gait Transition
%K Bipedal Locomotion
%K Morris-Lecar Non-linear Oscillator
%K Genetic Algorithm
%R 10.24200/sci.2017.4404
%X 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.
%U https://scientiairanica.sharif.edu/article_4404_2536bc447019a17f3ef4f57333236f33.pdf