Control of biped robot joints' angles using coordinated Matsuoka oscillators

Asiya M. Al-Busaidi, Riadh Zaier, Amer S. Al-Yahmadi

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

1 Citation (Scopus)

Abstract

Neural Oscillators are network of neurons that produce smooth oscillatory/rhythmic pattern. In this paper, a simple network of Matsuoka oscillators is used to generate the bipedal locomotion by coordinating the joint angle using a new method of coordination proposed by Huang. This method makes the control of the joint angle easier as they are related with each other in a sequential manner. Also, this method prevents error accumulation with time. The results show that the robot produced a smooth walking motion.

Original languageEnglish
Title of host publicationArtificial Neural Networks and Machine Learning, ICANN 2012 - 22nd International Conference on Artificial Neural Networks, Proceedings
Pages304-312
Number of pages9
Volume7552 LNCS
EditionPART 1
DOIs
Publication statusPublished - 2012
Event22nd International Conference on Artificial Neural Networks, ICANN 2012 - Lausanne, Switzerland
Duration: Sep 11 2012Sep 14 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume7552 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other22nd International Conference on Artificial Neural Networks, ICANN 2012
CountrySwitzerland
CityLausanne
Period9/11/129/14/12

Keywords

  • bipedal robot
  • CPG
  • locomotion
  • Matsuoka oscillator
  • neural oscillator

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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  • Cite this

    Al-Busaidi, A. M., Zaier, R., & Al-Yahmadi, A. S. (2012). Control of biped robot joints' angles using coordinated Matsuoka oscillators. In Artificial Neural Networks and Machine Learning, ICANN 2012 - 22nd International Conference on Artificial Neural Networks, Proceedings (PART 1 ed., Vol. 7552 LNCS, pp. 304-312). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7552 LNCS, No. PART 1). https://doi.org/10.1007/978-3-642-33269-2_39