3/25/2023 0 Comments Leg osculator![]() ![]() ![]() A61H- PHYSICAL THERAPY APPARATUS, e.g.A61- MEDICAL OR VETERINARY SCIENCE HYGIENE.201000001084 cerebrovascular disease Diseases 0.000 description 2.230000017531 blood circulation Effects 0.000 description 2.206010047249 Venous thrombosis Diseases 0.000 description 2.206010008190 Cerebrovascular accident Diseases 0.000 description 2.238000001356 surgical procedure Methods 0.000 description 8.210000003414 Extremities Anatomy 0.000 title claims description 44.Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.) Filing date Publication date Priority claimed from US14033771A external-priority Application filed by H Chaitin filed Critical H Chaitin Application granted granted Critical Publication of US3724450A publication Critical patent/US3724450A/en Anticipated expiration legal-status Critical Status Expired - Lifetime legal-status Critical Current Links ![]() Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.) Expired - Lifetime Application number US00140337A Inventor H Chaitin Original Assignee H Chaitin Priority date (The priority date is an assumption and is not a legal conclusion. The system itself determined how to evolve from one island to the next through the GA.- Google Patents US3724450A - Limb oscillatorĭownload PDF Info Publication number US3724450A US3724450A US00140337A US3724450DA US3724450A US 3724450 A US3724450 A US 3724450A US 00140337 A US00140337 A US 00140337A US 3724450D A US3724450D A US 3724450DA US 3724450 A US3724450 A US 3724450A Authority US United States Prior art keywords horizontal member end members device recited vertical stirrups Prior art date Legal status (The legal status is an assumption and is not a legal conclusion. These techniques may be applicable to other complex or ill-posed control problems in robot control. By introducing a staged set of manageable challenges, the algorithm's performance is improved. In this way, the designer specifies “islands of fitness” on the way to the final goal, rather than using a single fitness function or determining the explicit solution to the control problem. Then, a network of these oscillators is evolved to coordinate the movements of the different legs. First, an oscillator for the individual leg movements is evolved. Staged evolution is used to improve the convergence rate of the algorithm, thus obtaining rapid evolution of behavior toward a goal set. In contrast to the main stream of work in neural networks, the interconnection weights are altered by a Genetic Algorithm (GA), rather than a learning algorithm. The CPG is composed of a network of neurons. This chapter describes the staged evolution of a complex motor pattern generator(CPG) for the control of the leg movements of a six-legged walking robot. ![]()
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