DocumentCode :
2968597
Title :
Development of a Biomimetic Motion Control System Using CPG
Author :
Matsuo, Takayuki ; Ishii, Kazuo
Author_Institution :
Kyushu Inst. of Technol., Kitakyushu
fYear :
2007
fDate :
Sept. 29 2007-Oct. 4 2007
Firstpage :
1
Lastpage :
6
Abstract :
It is very important for mobile robots to realize a robust system in the motion and the structure which is strong enough to disturbance and breakdowns. As one of method for development of robust robot system, there is an approach following architecture of nervous system. In spiral cord of animal rhythm generator mechanism called the Central Pattern Generator (CPG) exists. CPG consists of many neural oscillators with inhibitory connection. Neural oscillators influence each other, and can make rhythmical pattern. In this paper, neural oscillator based motion control system was developed using micro-computer PIC, and applied to motion control of snake-like robot. The robot can move forwards, backwards by changing weights and change direction by adjusting command parameters from the upper layer.
Keywords :
biomimetics; mobile robots; motion control; neurocontrollers; robust control; animal rhythm generator mechanism; biomimetic motion control system; breakdowns; central pattern generator; command parameters; disturbance; inhibitory connection; microcomputer PIC; mobile robots; nervous system architecture; neural oscillators; rhythmical pattern; robust system; snake-like robot; spiral cord; Animal structures; Biomimetics; Electric breakdown; Mobile robots; Motion control; Nervous system; Oscillators; Rhythm; Robustness; Spirals;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2007
Conference_Location :
Vancouver, BC
Print_ISBN :
978-0933957-35-0
Electronic_ISBN :
978-0933957-35-0
Type :
conf
DOI :
10.1109/OCEANS.2007.4449409
Filename :
4449409
Link To Document :
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