Design of a Central Pattern Generator for Bionic-robot Joint with Angular Frequency Modulation

Author

Zhang, Daibing ; Hu, Dewen ; Shen, LinChen ; Xie, Haibin

Author_Institution

Dept. of Autom. Control, Nat. Univ. of Defense Technol., Changsha

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

1664

Lastpage

1669

Abstract

The paper proposes an artificial central pattern generator (CPG) for bionic-robot joint control. The neural oscillator adopted to produce rhythmic pattern is specially designed from original sin-cosine oscillator model. An amplitude neural estimator consisted of two neurons is presented to provide sensor feedback to CPG control. The artificial CPG can adapt itself to the physical system parameters variety by rhythmic movement angular frequency modulation.

Keywords

biocybernetics; feedback; frequency modulation; robots; sensors; amplitude neural estimator; angular frequency modulation; bionic-robot joint control; central pattern generator; neural oscillators; rhythmic movement angular frequency modulation; sensor feedback; sin-cosine oscillator model; Amplitude estimation; Biosensors; Centralized control; Equations; Feedback circuits; Frequency estimation; Frequency modulation; Neurofeedback; Neurons; Oscillators; Central pattern generator; angular frequency modula tion; bionic-robot joint; neural oscillator; rhythmic movement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340216

Filename

4142116