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http://hdl.handle.net/10119/9548
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| タイトル: | Biologically-inspired Self-adapting Motion Control Employing Neural Oscillators |
| 著者: | Yang, Woosung
Kwon, Jaesung
Bae, Ji-Hun
Chong, Nak Young
You, Bum Jae |
| キーワード: | neural oscillator
biologically-inspired motion generation
adaptive behavior
external disturbance
entrainment |
| 発行日: | 2009-07 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | IEEE International Symposium on Industrial Electronics, 2009. ISIE 2009. |
| 開始ページ: | 161 |
| 終了ページ: | 168 |
| DOI: | 10.1109/ISIE.2009.5217783 |
| 抄録: | We address a neural oscillator based control scheme to achieve biologically inspired motion generation. In general, it is known that humans or animals exhibit novel adaptive behaviors regardless of their kinematic configurations against unexpected disturbances or environment changes. This is caused by the entrainment property of the neural oscillator which plays a keyrole 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 the neural oscillator. 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 neural oscillators in various tasks that the arm traces a trajectory. Exploiting the neural oscillator and itsentrainment property, we experimentally verify an impressivecapability of biologically inspired self-adaptation behaviors that enables the robot arm to make adaptive changes corresponding to an unexpected environmental variety. |
| Rights: | Copyright (C) 2009 IEEE. Reprinted from IEEE International Symposium on Industrial Electronics, 2009. ISIE 2009., 161-168. 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/10119/9548 |
| 資料タイプ: | publisher |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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| 13783-1.pdf | | 2002Kb | Adobe PDF | 見る/開く |
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