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Theoretical studies on neuro oscillator for application of biped locomotion

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3 Author(s)
Katayama, O. ; Fac. of Eng., Kobe Univ., Japan ; Kurematsu, Y. ; Kitamura, S.

A neuro oscillator is applied for the generation of biped locomotion. Dynamics of each neuron is described by a set of nonlinear differential equation, and the coupled system of four neurons is used. Two problems were solved in this study. The first problem is the stability analysis as nonlinear oscillator. It is shown that the system generates periodic solutions for appropriate set of free parameters in the nonlinear differential equations. The stability chart in the parameter plane, depicting the stable, unstable and walkable region, was obtained with various motion patterns corresponding to several parameter sets. Next problem is a design aspect of the walking pattern. The harmonic balance method is successfully applied for this problem. It enables us to determine the free parameters in the oscillator's equations to satisfy a prescribed walking mode. The methods proposed here provide a theoretical issue for analysis and design problems encountered in the nonlinear neuro oscillators

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995