公开(公告)号：US20110015790A1

公开(公告)日：2011-01-20

申请号：US12920986

申请日：2009-02-20

申请人： Takeshi Yamakawa ,  Tatsuji Tokiwa

发明人： Takeshi Yamakawa ,  Tatsuji Tokiwa

IPC分类号： G01M1/38

CPC分类号： G05D19/02

摘要： There is proposed a control system and the like that can realize a CPG (Central Pattern Generator) network having high controllability. A control system (CPG network) includes a plurality of oscillation control devices (CPG) and one target signal generating device (rhythm generator (RG)). Each CPG and the RG are described by the Van der Pol equation, and an amplitude and a period of an output waveform are substantially independently controlled by an external signal. In order to control a phase difference between the CPGs, the period of each CPG is temporarily controlled through connections that are only conjunctions between the each CPG and the RG.

摘要翻译： 提出了可以实现具有高可控性的CPG（中央模式发生器）网络的控制系统等。 控制系统（CPG网络）包括多个振荡控制装置（CPG）和一个目标信号发生装置（节奏发生器（RG））。 每个CPG和RG由Van der Pol等式描述，并且输出波形的幅度和周期基本上由外部信号独立地控制。 为了控制CPG之间的相位差，通过仅在每个CPG和RG之间的连接的连接暂时控制每个CPG的周期。

公开(公告)号：US08417389B2

公开(公告)日：2013-04-09

申请号：US12920986

申请日：2009-02-20

申请人： Takeshi Yamakawa ,  Tatsuji Tokiwa

发明人： Takeshi Yamakawa ,  Tatsuji Tokiwa

IPC分类号： G01M1/38

CPC分类号： G05D19/02

摘要： There is proposed a control system and the like that can realize a CPG (Central Pattern Generator) network having high controllability. A control system (CPG network) includes a plurality of oscillation control devices (CPG) and one target signal generating device (rhythm generator (RG)). Each CPG and the RG are described by the Van der Pol equation, and an amplitude and a period of an output waveform are substantially independently controlled by an external signal. In order to control a phase difference between the CPGs, the period of each CPG is temporarily controlled through connections that are only conjunctions between the each CPG and the RG.

摘要翻译： 提出了可以实现具有高可控性的CPG（中央模式发生器）网络的控制系统等。 控制系统（CPG网络）包括多个振荡控制装置（CPG）和一个目标信号发生装置（节奏发生器（RG））。 每个CPG和RG由Van der Pol等式描述，并且输出波形的幅度和周期基本上由外部信号独立地控制。 为了控制CPG之间的相位差，通过仅在每个CPG和RG之间的连接的连接暂时控制每个CPG的周期。