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Browse Conference Publications > Neural Networks, 1993., IEEE ... Help

Autonomous trajectory generation of a biped locomotive robot using neuro oscillator

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3 Author(s)
Kurematsu, Y. ; Dept. of Comput. & Syst. Eng., Kobe Univ., Japan ; Maeda, T. ; Kitamura, S.

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

Published in:
Neural Networks, 1993., IEEE International Conference on

Date of Conference: 1993

Page(s):
1961 - 1966 vol.3
Meeting Date :
28 Mar 1993-01 Apr 1993
Print ISBN:
0-7803-0999-5
INSPEC Accession Number:
4730691
Conference Location :
San Francisco, CA
Digital Object Identifier :
10.1109/ICNN.1993.298857
Product Type:
Conference Publications

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