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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/8490

Title: Self-sustaining rhythmic arm motions using neural oscillators
Authors: Yang, Woosung
Chong, Nak Young
Kwon, Jaesung
You, Bum Jae
Issue Date: 2008-09
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008
Start page: 3585
End page: 3590
DOI: 10.1109/IROS.2008.4651224
Abstract: Humans or animals exhibit natural adaptive motions against unexpected disturbances or environment changes. In this paper, we focus on periodic, rhythmic arm motions that can be achieved by using a controller based on neural oscillators. The challenge of this work is to determine appropriate parameters of neural oscillators coupled to a robot arm, accomplishing a given task as well as self-sustaining natural rhythms. For this, an enhanced simulated annealing (SA) algorithm is developed. This work also demonstrates how to technically implement the proposed control scheme to a real robot. Exploiting the entrainment property of neural oscillators coupled to the joints of the arm, we verify that the arm traces a trajectory in such a way that the total energy consumption is minimized, responding to external disturbances.
Rights: Copyright (C) 2008 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008, 3585-3590. 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/10119/8490
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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