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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/7803

Title: Optimizing Neural Oscillators for Rhythmic Movement Control
Authors: Yang, W.
Chong, Nak Young
Kim, C.
You, B.J.
Issue Date: 2007-08
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: The 16th IEEE International Symposium on Robot and Human interactive Communication, 2007. RO-MAN 2007.
Start page: 807
End page: 814
DOI: 10.1109/ROMAN.2007.4415196
Abstract: A parameter tuning scheme for the neural oscillator is addressed to achieve biologically inspired robot control architectures based on a neural oscillator. It would be desirable to determine appropriately unknown parameters of the neural oscillator to accomplish a task of rhythmic movement under various changes of environment. Human or animal exhibits natural dynamics with efficient and performs robust motions against unexpected disturbances or environment changes. The neural oscillator needs to be tuned using its optimal parameters to generate such natural movement. As simple examples, this paper connects the neural oscillator to a pendulum system and a rotating crank system. To determine the optimal parameters of the neural oscillator for the examples, the optimization scheme based on the Simulated Annealing (SA) method is used. We verify the performance of the given tasks with the obtained optimal parameters of the neural oscillator, showing the adaptation motions of the example systems with entrainment property in numerical simulations.
Rights: Copyright (C) 2007 IEEE. Reprinted from The 16th IEEE International Symposium on Robot and Human interactive Communication, 2007. RO-MAN 2007. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
URI: http://hdl.handle.net/10119/7803
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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