scholarly journals Biologically Inspired Robot Arm Control Using Neural Oscillators

10.5772/7330 ◽  
2010 ◽  
Author(s):  
Woosung Yang ◽  
Nak Young ◽  
Bum Jae
Keyword(s):  
Robot Arm ◽  
Biologically Inspired ◽  
Neural Oscillators ◽  
Robot Arm Control ◽  
Biologically Inspired Robot

scholarly journals Biologically Inspired Robotic Arm Control Using an Artificial Neural Oscillator

2010 ◽  
Vol 2010 ◽  
pp. 1-16 ◽  
Author(s):  
Woosung Yang ◽  
Jaesung Kwon ◽  
Nak Young Chong ◽  
Yonghwan Oh
Keyword(s):  
Neural Oscillator ◽  
Robot Arm ◽  
Motion Generation ◽  
Biologically Inspired ◽  
Neural Oscillators ◽  
Control Scheme ◽  
Robot Arm Control ◽  
Simulation And Experiment ◽  
Self Adaptation ◽  
Robotic Arm Control

We address a neural-oscillator-based control scheme to achieve biologically inspired motion generation. In general, it is known that humans or animals exhibit novel adaptive behaviors regardless of their kinematic configurations against unexpected disturbances or environment changes. This is caused by the entrainment property of the neural oscillator which plays a key role to adapt their nervous system to the natural frequency of the interacted environments. Thus we focus on a self-adapting robot arm control to attain natural adaptive motions as a controller employing neural oscillators. To demonstrate the excellence of entrainment, we implement the proposed control scheme to a single pendulum coupled with the neural oscillator in simulation and experiment. Then this work shows the performance of the robot arm coupled to neural oscillators through various tasks that the arm traces a trajectory. With these, the real-time closed-loop system allowing sensory feedback of the neural oscillator for the entrainment property is proposed. In particular, we verify an impressive capability of biologically inspired self-adaptation behaviors that enables the robot arm to make adaptive motions corresponding to an unexpected environmental variety.

Development of the Robot Arm Control System Using Forearm SEMG

2009 ◽  
pp. 710-713
Author(s):  
Yusuke Wakita ◽  
Noboru Takizawa ◽  
Kentaro Nagata ◽  
Kazushige Magatani
Keyword(s):  
Control System ◽  
Robot Arm ◽  
Robot Arm Control

Dynamics and Simulation of General Human and Humanoid Motion in Sports

2011 ◽  
pp. 36-62 ◽  
Author(s):  
Veljko Potkonjak ◽  
Miomir Vukobratovic ◽  
Kalman Babkovic ◽  
Branislav Borovac
Keyword(s):  
Mathematical Models ◽  
Motion Planning ◽  
Mathematical Analysis ◽  
Humanoid Robot ◽  
Dynamic Control ◽  
Humanoid Robots ◽  
Assistive Devices ◽  
Kinematics And Dynamics ◽  
Biologically Inspired ◽  
Biologically Inspired Robot

This chapter relates biomechanics to robotics. The mathematical models are derived to cover the kinematics and dynamics of virtually any motion of a human or a humanoid robot. Benefits for humanoid robots are seen in fully dynamic control and a general simulator for the purpose of system designing and motion planning. Biomechanics in sports and medicine can use these as a tool for mathematical analysis of motion and disorders. Better results in sports and improved diagnostics are foreseen. This work is a step towards the biologically-inspired robot control needed for a diversity of tasks expected in humanoids, and robotic assistive devices helping people to overcome disabilities or augment their physical potentials. This text deals mainly with examples coming from sports in order to justify this aspect of research.

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