Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/73974
Title: Trajectory generator for rhythmic motion control of robot using neural oscillators
Authors: Huang, W.
Chew, C.-M. 
Hong, G.-S. 
Gnanassegarane, N.
Keywords: Biped locomotion
CPG
Limit cycle
Neural oscillator
Trajectory generator
Issue Date: 2007
Source: Huang, W.,Chew, C.-M.,Hong, G.-S.,Gnanassegarane, N. (2007). Trajectory generator for rhythmic motion control of robot using neural oscillators. Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007 : 383-392. ScholarBank@NUS Repository.
Abstract: This paper presents a structure of coupled neural oscillator which can be used as central pattern generator(CPG), for humanoid robot locomotion. Parameters tuning is always a big challenge for oscillators. In this article, some properties of neural oscillator, like limit cycle requirement, amplitude and frequency are studied. The objective is to develop a trajectory generator which has simple parameters' tuning. This architecture is suitable in various fields where rhythmic motion is required. We tested the oscillator structure on a simulated biped robot. The result demonstrates a stable walking behavior in both forward and backward straight walking and different walking speeds. © 2007 World Scientific Publishing Co. Pte. Ltd.
Source Title: Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007
URI: http://scholarbank.nus.edu.sg/handle/10635/73974
ISBN: 9812708154
Appears in Collections:Staff Publications

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