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A central pattern generator (CPG) is a neuronal network in which interconnected excitatory and inhibitory neurons produce an oscillating, rhythmic output in the absence of sensory feedback. CPGs ...

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It is assumed that a central pattern generator possesses an exponentially stable limit cycle, which originates a periodic output signal. We propose a method based on a Gauss-Newton iteration to ...

A Walking Pattern Generator (WPG) based on non-linear model predictive control is, then, introduced in order to generate the robot CoM and footsteps along the predicted trajectory. The combination of ...

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