Comparative Study of Forced Oscillators for the Adaptive Generation of Rhythmic Movements in Robot Controllers
| Autor: | Melanie Jouaiti, Patrick Henaff |
|---|---|
| Přispěvatelé: | Analysis and modeling of neural systems by a system neuroscience approach (NEUROSYS), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Creativlab, Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria) |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0301 basic medicine
General Computer Science Computer science Movement Models Neurological Complex system Central pattern generator Robotics [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation Synchronization Motor coordination User-Computer Interface 03 medical and health sciences Handshaking 030104 developmental biology 0302 clinical medicine Rhythm Control theory Central Pattern Generators Humans Robot [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Robotic arm 030217 neurology & neurosurgery Biotechnology |
| Zdroj: | Biological Cybernetics (Modeling) Biological Cybernetics (Modeling), 2019, 113 (5-6), pp.547-560. ⟨10.1007/s00422-019-00807-8⟩ Biological Cybernetics (Modeling), Springer Verlag, 2019, 113 (5-6), pp.547-560. ⟨10.1007/s00422-019-00807-8⟩ |
| ISSN: | 0340-1200 1432-0770 |
| DOI: | 10.1007/s00422-019-00807-8⟩ |
| Popis: | International audience; The interest of Central Pattern Generators (CPGs) in robot motor coordination is universally recognized so much so that a lot of possibilities on different scales of modeling are nowadays available. While each method obviously has its advantages and drawbacks, some could be more suitable for human-robot interactions. In this paper, we compare three oscillator models: Matsuoka, Hopf and Rowat-Selverston models. These models are integrated to a control architecture for a robotic arm and evaluated in simulation during a simplified handshaking interaction which involves constrained rhythmic movements. Furthermore, Heb-bian plasticity mechanisms are integrated to the Hopf and Rowat-Selverston models which can incorporate such mechanisms, contrary to the Matsuoka. Results show that the Matsuoka oscillator is subpar in all aspects and for the two others, that plasticity improves synchronization and leads to a significant decrease of the power consumption. |
| Databáze: | OpenAIRE |
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