Wei Li's research while affiliated with Case Western Reserve University and other places

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Publications (2)

A neural network with central pattern generators entrained by sensory feedback controls walking of a bipedal model
Article
  • Jul 2017
A neuromechanical simulation of a planar, bipedal walking robot has been developed. It is constructed as a simplified, planar musculoskeletal model of the biomechanics of the human lower body. The controller consists of a dynamic neural network with central pattern generators (CPGs) entrained by force and movement sensory feedback to generate appro...
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Figure 1: Left: biomechancal model in Animatlab. Right: the muscle and...
Fig. 2. The architecture of the CPG network. Black lines are synaptic...
Fig. 3. Comparison of gait between the model and human. (a) Series of...
Fig. 4. Neuron membrane potentials in the gait cycle. (a) Right leg...
Fig. 5. Walking on irregular terrain (a) Walking over a 45 mm high...
A Neural Network with Central Pattern Generators Entrained by Sensory Feedback Controls Walking of a Bipedal Model
Conference Paper
Full-text available
  • Jul 2016
A neuromechanical simulation of a planar, bipedal walking robot has been developed. It is constructed as a simplified musculoskeletal system to mimic the biomechanics of the human lower body. The controller consists of a dynamic neural network with central pattern generators (CPGs) entrained by force and movement sensory feedback to generate approp...
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Citations

... Separate neural networks generate the rhythm and create the gait pattern, especially stable in the sagittal plane without inertial sensors, a centralized posture controller or a walker in a manner similar to human walking (speed 0.850-1.289 m/s with a leg length of 0.84 m, also on 5 • slopes without additional controller actions) [190]. An underwater bipedal walking soft robot based on a coconut octopus was designed and a machine vision algorithm was used to extract motion information for analysis-such a walking robot can achieve an average speed of 6.48 cm/s [191]. ...
Reference: Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems
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... Alongside the very common studies in [8][9][10], we can mention some up-to-date prominent instances such that JimmyOr [11] proposed an approach based on combination of CPG and ZMP to control spine motion, it is promising way to enable natural walk of the robot. Wei Li et al. [12] developed a mechanism to generate muscle forces for biped motion, this method designed a feedback controller which is formed by a dynamic neural network with CPGs. ...
Reference: Applying Improve Differential Evolution Algorithm for Solving Gait Generation Problem of Humanoid Robots
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