title: Exploring a type of central pattern generator based on Hindmarsh-Rose model: from theory to application.
abstract: This paper proposes the idea that Hindmarsh-Rose (HR) neuronal model can be used to develop a new type of central pattern generator (CPG). Some key properties of HR model are studied and proved to meet the requirements of CPG. Pros and cons of HR model are provided. A CPG network based on HR model is developed and the related properties are investigated. We explore the bipedal primary gaits generated by the CPG network. The preliminary applications of HR model are tested on humanoid locomotion model and functional electrical stimulation (FES) walking system. The positive results of stimulation and experiment show the feasibility of HR model as a valid CPG.
authors.affiliation: Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, #800 Dongchuan Road, Minhang District, Shanghai 200240, China.
authors.forename: Dingguo
authors.initials: D
authors.lastname: Zhang
authors.forename: Qing
authors.initials: Q
authors.lastname: Zhang
authors.forename: Xiangyang
authors.initials: X
authors.lastname: Zhu
mesh_terms: D000200:Action Potentials / Q000502:physiology; D000818:Animals; D063226:Central Pattern Generators / Q000502:physiology*; D006801:Humans; D008124:Locomotion / Q000502:physiology*; D008959:Models, Neurological; D009474:Neurons / Q000502:physiology*; D013997:Time Factors
keywords: Hindmarsh–Rose model; bipedal locomotion; central pattern generator; neuronal network; walking control