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

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Robotics and Automation, ICRA 2013
ページ3389-3395
ページ数7
DOI
出版ステータスPublished - 2013 11 14
外部発表はい
イベント2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
継続期間: 2013 5 62013 5 10

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「Adaptive neural oscillators with synaptic plasticity for locomotion control of a snake-like robot with screw-drive mechanism」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル