Task-Oriented Parameter Tuning Based on Priority Condition for Biologically Inspired Robot Application
Joint Authors
Kwon, Jaesung
Park, Ill Woo
Yang, Woosung
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-07-26
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
This work gives a biologically inspired control scheme for controlling a robotic system.
Novel adaptive behaviors are observed from humans or animals even in unexpected disturbances or environment changes.
This is why they have neural oscillator networks in the spinal cord to yield rhythmic-motor primitives robustly under a changing task.
Hence, this work focuses on rhythmic arm movements that can be accomplished in terms of employing a control approach based on an artificial neural oscillator model.
The main challenge is to determine various parameters for applying a neural feedback to robotic systems with performing a desired behavior and self-maintaining the entrainment effect.
Hence, this work proposes a task-oriented parameter tuning algorithm based on the simulated annealing (SA).
This work also illustrates how to technically implement the proposed control scheme exploiting a virtual force and neural feedback.
With parameters tuned, it is verified in simulations that a 3-DOF planar robotic arm traces a given trajectory precisely, adapting to uneven external disturbances.
American Psychological Association (APA)
Kwon, Jaesung& Park, Ill Woo& Yang, Woosung. 2015. Task-Oriented Parameter Tuning Based on Priority Condition for Biologically Inspired Robot Application. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1074002
Modern Language Association (MLA)
Kwon, Jaesung…[et al.]. Task-Oriented Parameter Tuning Based on Priority Condition for Biologically Inspired Robot Application. Mathematical Problems in Engineering No. 2015 (2015), pp.1-14.
https://search.emarefa.net/detail/BIM-1074002
American Medical Association (AMA)
Kwon, Jaesung& Park, Ill Woo& Yang, Woosung. Task-Oriented Parameter Tuning Based on Priority Condition for Biologically Inspired Robot Application. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1074002
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074002