Control of Biped Robot Joints’ Angles Using Coordinated Matsuoka Oscillators

Autor:	Asiya M. Al-Busaidi, Amer S. Al-Yahmadi, Riadh Zaier
Rok vydání:	2012
Předmět:	Quantitative Biology::Neurons and Cognition Computer science Control theory Oscillation Robot Bipedalism Biped robot
Zdroj:	Artificial Neural Networks and Machine Learning – ICANN 2012 ISBN: 9783642332685 ICANN (1)
DOI:	10.1007/978-3-642-33269-2_39
Popis:	Neural Oscillators are network of neurons that produce smooth oscillatory/rhythmic pattern. In this paper, a simple network of Matsuoka oscillators is used to generate the bipedal locomotion by coordinating the joint angle using a new method of coordination proposed by Huang. This method makes the control of the joint angle easier as they are related with each other in a sequential manner. Also, this method prevents error accumulation with time. The results show that the robot produced a smooth walking motion.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::30bfbb5d4254a6a5d3ee295872b5215a https://doi.org/10.1007/978-3-642-33269-2_39 Zobrazit plný text záznamu