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Task-oriented parameter tuning based on priority condition for biologically inspired robot application. (English) Zbl 1394.93212
Summary: This work gives a biologically inspired control scheme for controlling a robotic system. Novel adaptive behaviors are observed from humans or animals even in unexpected disturbances or environment changes. This is why they have neural oscillator networks in the spinal cord to yield rhythmic-motor primitives robustly under a changing task. Hence, this work focuses on rhythmic arm movements that can be accomplished in terms of employing a control approach based on an artificial neural oscillator model. The main challenge is to determine various parameters for applying a neural feedback to robotic systems with performing a desired behavior and self-maintaining the entrainment effect. Hence, this work proposes a task-oriented parameter tuning algorithm based on the simulated annealing (SA). This work also illustrates how to technically implement the proposed control scheme exploiting a virtual force and neural feedback. With parameters tuned, it is verified in simulations that a 3-DOF planar robotic arm traces a given trajectory precisely, adapting to uneven external disturbances.
MSC:
93C85 Automated systems (robots, etc.) in control theory
92B99 Mathematical biology in general
34C15 Nonlinear oscillations and coupled oscillators for ordinary differential equations
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