Control with rhythms: A CPG architecture for pumping a swing

This paper presents a bio-inspired central pattern generator (CPG) architecture for feedback control of rhythmic behavior. The CPG circuit is realized as a coupled oscillator feedback particle filter. The collective dynamics of the filter are used to approximate a posterior distribution that is used to construct the optimal control input. The architecture is illustrated with the aid of a model problem involving pumping up of a swing, modeled as a parametrically forced pendulum. For this problem, the coupled oscillator particle filter is designed and its control performance demonstrated in a simulation environment.