Title :
Neural Oscillator for Rhythmic Motion Control of Biped Robot
Author :
Calderon, Carlos A Acosta ; Elara, Mohan Rajesh ; Zhou, Changjiu ; Hu, Lingyun ; Iniya, Bharathiselvan
Author_Institution :
Adv. Robotics & Intelligent Control Centre, Singapore
Abstract :
This paper presents a structure of a neural oscillator which is used as Central Pattern Generator for a biped robot locomotion. This architecture is suitable to generate different rhythmic motions, according to the amplitude and frequency of the system. Results of the system on a simulated biped robot show the feasibility of this approach.
Keywords :
legged locomotion; motion control; biped robot locomotion; central pattern generator; neural oscillator; rhythmic motion control; Humans; Intelligent control; Intelligent robots; Legged locomotion; Limit-cycles; Motion control; Neurons; Nonlinear dynamical systems; Oscillators; Signal generators;
Conference_Titel :
Signal Processing, Communications and Networking, 2008. ICSCN '08. International Conference on
Conference_Location :
Chennai
Print_ISBN :
978-1-4244-1924-1
Electronic_ISBN :
978-1-4244-1924-1
DOI :
10.1109/ICSCN.2008.4447236
