A movement pattern generator model using artificial neural networks

Abstract
Artificial neural networks (ANN's) allow a new approach to biological modeling. The main applications of ANN's have been geared towards the modeling of the association and learning mechanisms of the brain; only a few researchers have explored them for motor control. The fact that ANN's are based on biological systems indicates their potential application for a biological act such as locomotion. Towards this goal, we have developed a "movement pattern generator," using an ANN for generating periodic movement trajectories. This model is based on the concept of "central pattern generators." Jordan's sequential network, which is capable of learning sequences of patterns, was modified and used to generate several bipedal trajectories (or gaits), coded in task space, at different frequencies. The network model successfully learned all of the trajectories presented to it. The model has many attractive properties such as limit cycle behavior, generalization of trajectories and frequencies, phase maintenance, and fault tolerance. The movement pattern generator model is potentially applicable for improved understanding of animal locomotion and for use in legged robots and rehabilitation medicine.

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