Synthesis of Matsuoka-Based Neuron Oscillator Models in Locomotion Control of Robots

Author

Liu, C.J. ; Seo, Kazuyuki ; Fan, Zhe ; Tan, X.B. ; Goodman, E.D.

Author_Institution

Sch. of Electron. & Inf. Eng., Tongji Univ., Shanghai, China

fYear

2012

fDate

6-8 Nov. 2012

Firstpage

342

Lastpage

347

Abstract

In this paper we present a numerical study of the Matsuoka-based neuron oscillator model. The Matsuoka-based neuron oscillator model is one of the most popular CPG (central pattern generator) models in robot motion control. In this paper, numerical simulation is conducted to analyze the influence of the parameters on the output signals. A mass-spring-damper system is used as an example to analyze the entrainment properties of the neuron oscillator. The main engineering application methods of these CPG-inspired control methods are concluded. The motivation is to present a practical guide to researchers and engineers interested in the CPG-inspired control approaches.

Keywords

mobile robots; motion control; neurocontrollers; numerical analysis; springs (mechanical); vibration control; CPG-inspired control method; Matsuoka-based neuron oscillator model; central pattern generator model; entrainment properties; locomotion control; mass-spring-damper system; numerical simulation; robot motion control; signal parameter; Biological system modeling; Legged locomotion; Mathematical model; Neurons; Numerical models; Oscillators; CPG; Matsuoka model; Neuron oscillator; motion control; robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems (GCIS), 2012 Third Global Congress on

Conference_Location

Wuhan

Print_ISBN

978-1-4673-3072-5

Type

conf

DOI

10.1109/GCIS.2012.99

Filename

6449550