Control of a giant swing robot using a neural oscillator

  • Authors:

  • Kiyotoshi Matsuoka;Norifumi Ohyama;Atsushi Watanabe;Masataka Ooshima

  • Affiliations:

  • Department of Brain Science and Engineering, Kyushu Institute of Technology, Kitakyushu, Japan;Department of Brain Science and Engineering, Kyushu Institute of Technology, Kitakyushu, Japan;Department of Brain Science and Engineering, Kyushu Institute of Technology, Kitakyushu, Japan;Department of Brain Science and Engineering, Kyushu Institute of Technology, Kitakyushu, Japan

  • Venue:
  • ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part II
  • Year:
  • 2005

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Abstract

A neural oscillator model is applied to swing/giant-swing control of an under-actuated double pendulum. The oscillator receives the angle signal of the upper link and provides a relative angle of the lower link. The oscillator tunes itself to the natural dynamics of the pendulum system so as to increase the swing amplitude, and finally the pendulum system enters the phase of giant swing motion. A most remarkable result is that transition from simple swing to giant swing is attained without changing the values of the parameters of the neural oscillator at all.