Control of biped locomotion inspired from walking in monkeys

Recent  works have been done in the field of rehabilitation for paraplegics. What interests us here are the research done with brain-machine interfaces.
Following the work of Nathan Fitzsimmons1, a central question to be addressed is the minimal information – both sensory and cerebral – needed by the spinal cord circuits to generate stable locomotion. The goal of this project is to develop a central pattern generator based controller for biped locomotion and its stabilization based on studies on monkeys.

1 : Nathan A. Fitzsimmons, Mikhail A. Lebedev, Ian D. Peikon, and Miguel A. L. Nicolelis. Extracting kinematic parameters for monkey bipedal walking from cortical neuronal ensemble activity.

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