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 |
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| Title of host publication | IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics |
| Pages | 4456-4461 |
| Number of pages | 6 |
| DOIs | |
| 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) |
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Other
| Other | IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics |
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| Country | France |
| City | Paris |
| Period | 11/6/06 → 11/10/06 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
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Cite this
Izumi, K., Tajima, A., Liu, G. L., & Watanabe, K. (2006). Design of coupled Van Del Pol oscillators for multi-link robots. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 4456-4461). [4153760] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.347973