Real Time Movement Classification in Versatile CPG Control

International audienceEveryday human tasks are composed of a succession of discrete and rhythmic movements. If we want robots to be able to interact appropriately , it appears paramount for them to be able to perform both types of movements too. Though Central Pattern Generators (CPGs) are usually employed for rhythmic movement generation, they are also able of producing discrete movements. In this paper , we present a classification method to distinguish rhythmic and discrete movements so that the CPG can switch from one mode to the other. Moreover, we introduce several new plasticity rules more suitable for discrete movements