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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9540

Title: Self-adapting Robot Arm Movement Employing Neural Oscillators
Authors: Yang, Woosung
Bae, Ji-Hun
Kwon, Jaesung
Chong, Nak Young
Oh, Yonghwan
You, Bum Jae
Keywords: neural oscillator
rhythmic movement
natural frequency
Issue Date: 2009-10
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009
Start page: 2235
End page: 2242
DOI: 10.1109/IROS.2009.5353976
Abstract: This paper proposes a neural oscillator based control to attain rhythmically dynamic movements of a robot arm. In human or animal, it is known that neural oscillators could produce rhythmic commands efficiently and robustly under the changing task environment. In particular, entrainments of the neural oscillator play a key role to adapt the nervous system to the natural frequency of the interactedenvironments. Hence, we discuss how a robot arm controls forexhibiting natural adaptive motions as a controller employing the entrainment property. To demonstrate the excellence of entrainment, we implement the proposed control scheme to a real robot arm. Then this work shows the performance of the robot arm coupled to neural oscillators in various tasks that the arm traces a trajectory. Exploiting the neural oscillator and itsentrainment property, we experimentally verify an impressivecapability of self-adaptation of the neural oscillator that enables the robot arm to make adaptive changes corresponding to an exterior environment.
Rights: Copyright (C) 2009 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009, 2009, 2235-2242. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
URI: http://hdl.handle.net/10119/9540
Material Type: publisher
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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