Paper Info
Title
Generic Mechanism for Waveform Regulation and Synchronization of Oscillators: An Application for Robot Behavior Diversity Generation
Abstract
While nonlinear oscillators have been widely used for central pattern generators to produce basic rhythmic signals for robot locomotion control, methods to shape and regulate the signal waveform without changing the characteristics of the oscillators have not been fully investigated, especially during the network synchronization process. To illustrate the principle and process of waveform regulation of nonlinear oscillators in detail and ensure that the influence can be controlled, we present a method for waveform regulation and synchronization and analyze the relationship of different factors (e.g., initial conditions, network parameters, phase, and waveform regulation factors) in synchronization deviation. Then, the method is indicated to be effective in other commonly used nonlinear oscillators and neural oscillators. As an example application, a three-layer behavioral control architecture for a legged robot is constructed based on the proposed method. Modules for the body behavior, leg coordination, and single-leg adjustment are established to realize diverse robot behaviors. The effectiveness of the method is validated by a series of experiments. The results prove that the method performs well in terms of signal control accuracy, behavior pattern diversity, and smooth motion transition.
Year
DOI
Venue
2022
10.1109/TCYB.2020.3029062
IEEE Transactions on Cybernetics
Keywords
DocType
Volume
Robotics
Journal
52
Issue
ISSN
Citations 
6
2168-2267
0
PageRank 
References 
Authors
0.34
19
3
Name
Order
Citations
PageRank
Ya-Guang Zhu1153.64
Liang Zhang200.34
Poramate Manoonpong322631.35