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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/8816

Title: Entrainment-enhanced neural oscillator for rhythmic motion control
Authors: Yang, Woosung
Nak Young, Chong
Kim, Chang Hwan
You, Bum Jae
Keywords: Biologically inspired control
Neural oscillator
Rhythmic arm motion
Crank rotation
Simulated annealing
Issue Date: 2008-10
Publisher: Springer
Magazine name: Intelligent Service Robotics
Volume: 1
Number: 4
Start page: 303
End page: 311
DOI: 10.1007/s11370-008-0031-6
Abstract: We propose a new neural oscillator model to attain rhythmic movements of robotic arms that features enhanced entrainment property. It is known that neural oscillator networks could produce rhythmic commands efficiently and robustly under the changing task environment. However, when a quasi-periodic or non-periodic signal is inputted into the neural oscillator, even the most widely used Matsuoka’s neural oscillator (MNO) may not be entrained to the signal. Therefore, most existing neural oscillator models are only applicable to a particular situation, and if they are coupled to the joints of robotic arms, they may not be capable of achieving human-like rhythmic movement. In this paper, we perform simulations of rotating a crank by a two-link planar arm whose joints are coupled to the proposed entrainment-enhanced neural oscillator (EENO). Specifically, we demonstrate the excellence of EENO and compare it with that of MNO by optimizing their parameters based on simulated annealing (SA). In addition, we show an impressive capability of self-adaptation of EENO that enables the planar arm to make adaptive changes from a circular motion into an elliptical motion. To the authors’ knowledge, this study seems to be the first attempt to enable the oscillator-coupled robotic arm to track a desired trajectory interacting with the environment.
Rights: This is the author-created version of Springer, Woosung Yang, Nak Young Chong, Chang Hwan Kim and Bum Jae You, Intelligent Service Robotics, 1(4), 2008, 303-311. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11370-008-0031-6
URI: http://hdl.handle.net/10119/8816
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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