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 proceedingConference 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 languageEnglish
Title of host publicationIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages4456-4461
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Externally publishedYes
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: Nov 6 2006Nov 10 2006

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period11/6/0611/10/06

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