TY - GEN
T1 - Design of coupled Van Del Pol oscillators for multi-link robots
AU - Izumi, Kiyotaka
AU - Tajima, Akihito
AU - Liu, Guang Lei
AU - Watanabe, Keigo
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=50249130850&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249130850&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.347973
DO - 10.1109/IECON.2006.347973
M3 - Conference contribution
AN - SCOPUS:50249130850
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4456
EP - 4461
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -