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. 2014 Jan 9;7:190. doi: 10.3389/fncom.2013.00190

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Copyright © 2014 Muralidharan, Balasubramani, Chakravarthy, Lewis and Moustafa.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Training of the CPG network with the desired hip (h) and knee (k1 and k2) angles (θ) represented in Figure 5B. The number of hopf oscillators used to train the hip (ω_h) and knee angles (ω_k1 and ω _k2) are 2 and 3 respectively. Phase difference within-CPGs is maintained by ψ_local while across-CPGs is maintained by ψ_global. αs modulate the intrinsic CPG rhythm to output the learnt joint angles.