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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9503

Title: Locomotion of Snake-like Robots Using Adaptive Neural Oscillators
Authors: Ryu, Jae-Kwan
Chong, Nak Young
You, Bum Jae
Christensen, Henrik
Keywords: undulatory locomotion
central pattern generator
adaptive oscillator
frequency adaptation
snake-like robot
Issue Date: 2009-08-29
Publisher: Springer
Magazine name: Intelligent Service Robotics
Volume: 3
Number: 1
Start page: 1
End page: 10
DOI: 10.1007/s11370-009-0049-4
Abstract: This paper proposes a CPG-based control architecture using a frequency-adaptive oscillator for undulatory locomotion of snake-like robots. The control architecture consists of a network of neural oscillators that generates desired oscillatory output signals with specific phase lags. A key feature of the proposed architecture is a self-adaptation process that modulates the parameters of the CPG to adapt the motion of the robot to varying coefficients of body-ground friction. This process is based on the frequency-adaptation rule of the oscillator that is designed to learn the periodicity of sensory feedback signals. It has an important meaning of establishing a closed-loop CPG much more robust against environmental and/or system parameterchanges. We verify the validity of the proposed locomotion control system employing a simulated snake-like robot moving over terrains with different friction coefficients with a constant velocity.
Rights: This is the author-created version of Springer, Jae-Kwan Ryu, Nak Young Chong, Bum Jae You and Henrik Christensen, Intelligent Service Robotics, 3(1), 2009, 1-10. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11370-009-0049-4
URI: http://hdl.handle.net/10119/9503
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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