Programmable central pattern generators: an application to biped locomotion control

By Ludovic Righetti, Auke Jan Ijspeert. Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006

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Synchronization in complex networks of phase oscillators: A survey (2014, background): “…al., 2007, 2008; Klein, 2008; Klein et al., 2008), and central pattern generators for locomotion purposes (Ijspeert, 2008; Aoi and Tsuchiya, 2005; Righetti and Ijspeert, 2006) motivate the study of coherent behaviors with synchronized frequencies where the phases are not cohesive, but rather…”
Probabilistic Movement Primitives (2013, background): “While many of these properties are implemented by one or more existing MP architectures [1, 11, 10, 2, 12, 13, 14], no approach exists which exhibits all of these properties in one framework.”
Central pattern generators for locomotion control in animals and robots: A review (2008, methodology): “Most of the oscillators have a fixed waveform for a given frequency, but in (Righetti & Ijspeert, 2006a) we developed a simple oscillator model that allows one to independently adjust the durations of the ascending and descending phases in the cycle (this is useful to independently adjust swing and…”
Review of assistive strategies in powered lower-limb orthoses and exoskeletons (2015, methodology): “This model has been widely used in robotics field, for example, as a central pattern generator [54].”