Theoretical Analysis of Phase Resetting on Matsuoka Oscillators
Theoretical Analysis of Phase Resetting on Matsuoka Oscillators
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DOI：
10.1007/978-94-007-4792-0_71
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发表时间：
2013
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影响因子：
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通讯作者：
K. Nakada;Yasuomi D. Sato;K. Matsuoka
中科院分区：
文献类型：
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作者：
K. Nakada;Yasuomi D. Sato;K. Matsuoka
在本文中，我们考虑的功能作用的分段线性振荡器模型被称为松冈振荡器，广泛应用于机器人领域，特别是在设计的中央模式发生器（CPG）控制机器人的节奏运动的单位相位复位。振荡器可以看作是一个由快膜电位动力学和慢恢复动力学组成的快-慢系统。首先，我们显示的相位响应曲线（PRCs）的动力学的基础上的相位减少的方法，相位复位通过缓慢的动力学，以及在周期性运动的快速动力学的可扩展性。其次，我们通过奇异摄动方法证明了反馈输入对慢动力学而不是对快动力学的可扩展性。我们的研究结果将弥合理论分析，设计原则，并在机器人和生物医学工程中的应用程序的实际和有效的实施之间的差距差距。
In this paper, we consider functional roles of phase resetting of the piecewise linear oscillator model known as the Matsuoka oscillator, which widely applied in the field of robotics, particularly, in the design of central pattern generator (CPG) units for controlling robotic rhythmic motion. The oscillator can be regarded as a fast-slow system composed of a fast membrane potential dynamics and a slow recovery dynamics. Firstly, we show phase response curves (PRCs) for both the dynamics based on the phase reduction approach, and plausibility of phase resetting through the slow dynamics as well as the fast dynamics during periodic motion. Secondly, we show plausibility of feedback inputs to the slow dynamics rather than the fast dynamics by using a singular perturbation approach. Our results will bridge the gap among theoretical analysis, design principle, and practical and efficient implementation for applications in robotics and biomedical engineering.