Adaptive neural oscillators with synaptic plasticity for locomotion control of a snake-like robot with screw-drive mechanism

Timo Nachstedt, Florentin Worgotter, Poramate Manoonpong, Ryo Ariizumi, Yuichi Ambe, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

Central pattern generators (CPGs) play a crucial role for animal locomotion control. They can be entrained by sensory feedback to induce proper rhythmic patterns and even store the entrained patterns through connection weights. Inspired by this biological finding, we use four adaptive neural oscillators with synaptic plasticity as CPGs for locomotion control of our real snake-like robot with screw-drive mechanism. Each oscillator consists of only three neurons and uses adaptive mechanisms based on frequency adaptation and Hebbian-type learning rules. It autonomously generates proper periodic patterns for the robot locomotion and can be entrained by sensory feedback to memorize the patterns. The adaptive CPG system in conjunction with a simple control strategy enables the robot to perform self-tuning behavior which is robust against short-time perturbations. The generated behavior is also energy efficient. In addition, the robot can also cope with corners as well as move through a complex environment with obstacles.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages3389-3395
Number of pages7
DOIs
Publication statusPublished - 2013 Nov 14
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 2013 May 62013 May 10

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period13/5/613/5/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Nachstedt, T., Worgotter, F., Manoonpong, P., Ariizumi, R., Ambe, Y., & Matsuno, F. (2013). Adaptive neural oscillators with synaptic plasticity for locomotion control of a snake-like robot with screw-drive mechanism. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 3389-3395). [6631050] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631050