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http://hdl.handle.net/10119/9503
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| 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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| 15044-1.pdf | | 1563Kb | Adobe PDF | View/Open |
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