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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9502

Title: Biologically Inspired Robotic Arm Control Using an Artificial Neural Oscillator
Authors: Yang, Woosung
Kwon, Jaesung
Chong, Nak Young
Oh, Younghwan
Keywords: central pattern generator
neural oscillator
trajectory control
adaptive motion
Issue Date: 2010-03-14
Publisher: Hindawi Publishing Corporation
Magazine name: Mathematical Problems in Engineering
Volume: 2010
Number: Article ID 107538
Start page: 1
End page: 16
DOI: 10.1155/2010/107538
Abstract: We address a neural-oscillator-based control scheme to achieve biologically inspired motion generation. In general, it is known that humans or animals exhibit adaptive behaviors against unexpected disturbances or environmental changes regardless of their kinematic configurations. This is caused by the entrainment property of the neural oscillator which plays a key role to adapt their nervous system to the natural frequency of the interacted environments. Thus we focus on a self-adapting robot arm control to attain natural adaptive motions as a controller employing neural oscillators. To demonstrate the excellence of entrainment, we implement the proposed control scheme to a single pendulum coupled with the neural oscillator in simulation and experiment. Then this work shows the performance of the robot arm coupled to neuraloscillators through various tasks that the arm traces a trajectory. With these, the real-time closed loop system allowing sensory feedback of the neural oscillator for the entrainment property is proposed. In particular, we verify an impressive capability of biologically inspired self-adaptation behaviors that enables the robot arm to make adaptive motions corresponding to an unexpected environmental change.
Rights: Copyright (c) 2010 Woosung Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
URI: http://hdl.handle.net/10119/9502
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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