Analysis of Neural Oscillator for Bio-inspired Robot Control

Author

Zhang, D.G. ; Zhu, K.Y. ; Lan, L.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

This paper presents some theoretical analysis for the neural oscillator, which is widely applied in the robot and biped control. The methods adopted here include stability theory, describing function, and linear piecewise analysis. Some prime properties of the neural oscillator such as the frequency determining, boundness, and stability are exploited. The insightful results will strengthen the foundation of the neural oscillator and enhance its efficient application for the bio-inspired robot control

Keywords

describing functions; neurocontrollers; piecewise linear techniques; robots; stability; bio-inspired robot control; central pattern generator; describing function; neural oscillator; piecewise linear analysis; stability theory; Biomembranes; Frequency estimation; Neurofeedback; Neurons; Oscillators; Output feedback; Pattern analysis; Piecewise linear techniques; Robot control; Stability analysis; Central pattern generator; Describing function; Neural oscillator; Piecewise linear analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252614

Filename

4018729