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--- seminar_3m:3m_2014:cpg_muscle [15.07.2014 16:37] – [References] Andre Seyfarth
+++ seminar_3m:3m_2014:cpg_muscle [15.07.2014 16:43] – [Introduction/Motivation] Christian Schumacher
@@ Zeile 10: / Zeile 10: @@
 ===== Introduction/Motivation =====
-In locomotion central pattern generators (CPG) are used by the neuronal system to control movements with low effort and without sensory feedback from the peripheral nervous system (Ijspeert, 2008). Next to locomotion, CPGs in humans, invertebrate and vertebrate animals control activities like breathing or digesting (Ijspeert, 2008). They produce oscillating signals or patterns that can be used to stimulate muscle activity or to directly tune mechanical parameters like mass or spring stiffness etc. (Sproewitz, 2008).
+In locomotion central pattern generators (CPG) are used by the neuronal system to control movements with low effort and without sensory feedback from the peripheral nervous system (Ijspeert, 2008). Next to locomotion, CPGs in humans, invertebrate and vertebrate animals control activities like breathing or digesting (Ijspeert, 2008). They produce oscillating signals or patterns that can be used to stimulate muscle activity or to directly adjust mechanical parameters like joint angles or joint stiffness etc. (Sproewitz, 2008).
-Within this project the contribution of CPGs to control a hopping movement by changing mechanical properties should be simulated and investigated.
+Within this project the contribution of CPGs to control a hopping movement by changing mechanical properties will be simulated and investigated.
-Therefore, a simple spring-mass-model is implemented in Matlab Simulink (Mathworks, Natick, MA, USA). Since, this model is energy conserving and produces stable hopping patterns for the right initial conditions we additionally implemented a damper parallel to the spring (see Fig.1).
+Therefore, a simple spring-mass-model is implemented in Matlab Simulink (Mathworks, Natick, MA, USA). Since this model is energy conserving and produces stable hopping patterns for the right initial conditions, we additionally implemented a damper parallel to the spring (see Fig.1).
 [{{ :seminar_3m:3m_2014:3m_cpg:mass_spring_damper.png?300 |**Fig. 1**: damped spring-mass-system, modified from (Wikipedia, 2007).}}]
-Then we used CPGs to change the spring properties (stiffness k and rest length l0) over time to control the systems behavior.
+Then we used CPGs to change the spring properties (stiffness k and rest length l0) over time to control the systems behavior. Here, we aim to achieve a constant hopping height although a damper is included.