Title :
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
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;
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
DOI :
10.1109/ROBIO.2006.340216
