Distributed Optimal Control via Central Pattern Generator with Application to Biped Locomotion, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor) ; Saadat Foumani, Mahmood (Supervisor)
Abstract
Human walking is widely recognized as one of the most adaptable and robust forms of locomotion in nature, with intricate neural and biomechanical systems interacting to support this complex behavior. It is proposed that these systems are organized in a hierarchical structure, with the lower level comprising a complex distributed system consisting of muscles and the spinal cord, and the higher level being the brain cortex. The higher level is responsible for training and monitoring the output of the lower level, and intervening when the lower system fails to stabilize the system. To control the lower level, one popular model that has emerged is the central pattern generator (CPG). It is...
Cataloging briefDistributed Optimal Control via Central Pattern Generator with Application to Biped Locomotion, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor) ; Saadat Foumani, Mahmood (Supervisor)
Abstract
Human walking is widely recognized as one of the most adaptable and robust forms of locomotion in nature, with intricate neural and biomechanical systems interacting to support this complex behavior. It is proposed that these systems are organized in a hierarchical structure, with the lower level comprising a complex distributed system consisting of muscles and the spinal cord, and the higher level being the brain cortex. The higher level is responsible for training and monitoring the output of the lower level, and intervening when the lower system fails to stabilize the system. To control the lower level, one popular model that has emerged is the central pattern generator (CPG). It is...
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