Control of biped robot joints' angles using coordinated Matsuoka oscillators

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

doi:10.1007/978-3-642-33269-2_39

Control of biped robot joints' angles using coordinated Matsuoka oscillators

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

^*Corresponding author for this work

Mechanical and Industrial Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Artificial Neural Networks and Machine Learning, ICANN 2012 - 22nd International Conference on Artificial Neural Networks, Proceedings
Pages	304-312
Number of pages	9
Volume	7552 LNCS
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-33269-2_39
Publication status	Published - 2012
Event	22nd International Conference on Artificial Neural Networks, ICANN 2012 - Lausanne, Switzerland Duration: Sep 11 2012 → Sep 14 2012

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	7552 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	22nd International Conference on Artificial Neural Networks, ICANN 2012
Country	Switzerland
City	Lausanne
Period	9/11/12 → 9/14/12

Keywords

bipedal robot
CPG
locomotion
Matsuoka oscillator
neural oscillator

ASJC Scopus subject areas

Computer Science(all)
Theoretical Computer Science

Access to Document

10.1007/978-3-642-33269-2_39

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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

Control of biped robot joints' angles using coordinated Matsuoka oscillators. / Al-Busaidi, Asiya M.; Zaier, Riadh ; Al-Yahmadi, Amer S.

Artificial Neural Networks and Machine Learning, ICANN 2012 - 22nd International Conference on Artificial Neural Networks, Proceedings. Vol. 7552 LNCS PART 1. ed. 2012. p. 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).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Al-Busaidi, AM, Zaier, R & Al-Yahmadi, AS 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 edn, vol. 7552 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 7552 LNCS, pp. 304-312, 22nd International Conference on Artificial Neural Networks, ICANN 2012, Lausanne, Switzerland, 9/11/12. https://doi.org/10.1007/978-3-642-33269-2_39

Al-Busaidi AM, Zaier R , Al-Yahmadi AS. 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. 2012. p. 304-312. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). https://doi.org/10.1007/978-3-642-33269-2_39

Al-Busaidi, Asiya M. ; Zaier, Riadh ; Al-Yahmadi, Amer S. / Control of biped robot joints' angles using coordinated Matsuoka oscillators. Artificial Neural Networks and Machine Learning, ICANN 2012 - 22nd International Conference on Artificial Neural Networks, Proceedings. Vol. 7552 LNCS PART 1. ed. 2012. pp. 304-312 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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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.",

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author = "Al-Busaidi, {Asiya M.} and Riadh Zaier and Al-Yahmadi, {Amer S.}",

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AB - 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.

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Control of biped robot joints' angles using coordinated Matsuoka oscillators

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