Design of coupled Van Del Pol oscillators for multi-link robots

Kiyotaka Izumi; Akihito Tajima; Guang Lei Liu; Keigo Watanabe

doi:10.1109/IECON.2006.347973

Design of coupled Van Del Pol oscillators for multi-link robots

Kiyotaka Izumi, Akihito Tajima, Guang Lei Liu, Keigo Watanabe

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

Abstract

Fundamental properties of a CPG using Van del Pol oscillators are examined to generate some locomotion patterns for a semi-looper-like worm robot, where such a robot adopts a locomotion of green caterpillar as a basic locomotion pattern, but sometimes it can realize a locomotion of looper. Assume that the robot is composed of simple three serial links, as a fundamental research. Several simulations are conducted for examining how to design the CPG by using inhibitory or excitory connections to obtain a stable rhythmic response, and for searching the design parameters to produce valid amount of amplitude and frequency.

Original language	English
Title of host publication	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages	4456-4461
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2006.347973
Publication status	Published - Dec 1 2006
Externally published	Yes
Event	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France Duration: Nov 6 2006 → Nov 10 2006

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Country	France
City	Paris
Period	11/6/06 → 11/10/06

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2006.347973

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Design of coupled Van Del Pol oscillators for multi-link robots. / Izumi, Kiyotaka; Tajima, Akihito; Liu, Guang Lei; Watanabe, Keigo.

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics. 2006. p. 4456-4461 4153760 (IECON Proceedings (Industrial Electronics Conference)).

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

Izumi, K, Tajima, A, Liu, GL & Watanabe, K 2006, Design of coupled Van Del Pol oscillators for multi-link robots. in IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics., 4153760, IECON Proceedings (Industrial Electronics Conference), pp. 4456-4461, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 11/6/06. https://doi.org/10.1109/IECON.2006.347973

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