Name
Abstract | ||
|---|---|---|
The trajectory of a biped locomotive robot is generated using a neuro-oscillator. This oscillator consists of four neuron cells which are mutually coupled with inhibitory connections. This model shows a stationary periodic oscillation for an appropriate set of parameters. Stability analysis of the neuro-oscillator can be performed by the linearization method. A stationary periodic oscillation appears in the unstable region for equilibrium states, and this periodic oscillation generates a trajectory for stationary walking by assigning the state variables of neuron cells to joint angles of the robot. Simulation studies confirm the relevancy of the proposed method |
Year | DOI | Venue |
|---|---|---|
1993 | 10.1109/ICNN.1993.298857 | San Francisco, CA |
Keywords | Field | DocType |
neural nets,path planning,robots,autonomous trajectory generation,biped locomotive robot,inhibitory connections,linearization,mutually coupled neuron cells,neuro oscillator,periodic oscillation,stability analysis,stationary periodic oscillation,stationary walking,equilibrium state,modeling,oscillators,oscillations,leg | Motion planning,Oscillation,Periodic oscillation,Control theory,Computer science,State variable,Robot,Artificial neural network,Linearization,Trajectory | Conference |
Citations | PageRank | References |
5 | 0.69 | 1 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kurematsu, Y. | 1 | 5 | 0.69 |
| Maeda, T. | 2 | 7 | 1.21 |
| Kitamura, S. | 3 | 8 | 2.82 |