Juggling control using neural oscillators

Author

Miyakoshi, S. ; Yamakita, M. ; Furuta, K.

Author_Institution

Dept. of Syst. Sci., Tokyo Inst. of Technol., Japan

Volume

2

fYear

1994

fDate

12-16 Sep 1994

Firstpage

1186

Abstract

In this paper we discuss pattern generations and switching for robot manipulators to perform tasks under qualitative changes of the dynamic environment. The approach is to compose continuous type artificial neural elements as an oscillator based on mutual entrainment and generate trajectories for the manipulators. Using the neural oscillator, juggling control of manipulators is considered as a concrete task, and a method to alternate patterns of the trajectories according to the change of the desired value and environment is proposed. Some numerical examples show the efficiency of the proposed method

Keywords

dynamics; intelligent control; manipulators; mechanical variables control; neurocontrollers; dynamics; juggling control; manipulators; neural control; neural oscillators; robotics; trajectory generation; Control systems; Kinetic energy; Legged locomotion; Manipulator dynamics; Nonlinear equations; Oscillators; Robotics and automation; Service robots; Switches; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407464

Filename

407464