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このアイテムの引用には次の識別子を使用してください:
http://hdl.handle.net/10119/9503
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| タイトル: | Locomotion of Snake-like Robots Using Adaptive Neural Oscillators |
| 著者: | Ryu, Jae-Kwan
Chong, Nak Young
You, Bum Jae
Christensen, Henrik |
| キーワード: | undulatory locomotion
central pattern generator
adaptive oscillator
frequency adaptation
snake-like robot |
| 発行日: | 2009-08-29 |
| 出版者: | Springer |
| 誌名: | Intelligent Service Robotics |
| 巻: | 3 |
| 号: | 1 |
| 開始ページ: | 1 |
| 終了ページ: | 10 |
| DOI: | 10.1007/s11370-009-0049-4 |
| 抄録: | 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 |
| 資料タイプ: | author |
| 出現コレクション: | b10-1. 雑誌掲載論文 (Journal Articles)
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このアイテムのファイル:
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記述 |
サイズ | 形式 |
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| 15044-1.pdf | | 1563Kb | Adobe PDF | 見る/開く |
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