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Control of oscillator aggregation for emergence of homeostasis in autonomous systems
恒常性創発にむけた自発的同期に基づく振動子の集合体による自律制御

Sho Yamauchi, Hidenori Kawamura, Keiji Suzuki
2015 Transactions of the Japanese society for artificial intelligence  
Based on these facts, a method of control to generate homeostasis in robotic systems is proposed by assuming a robot system is an aggregation of oscillators in this paper.  ...  When a robot system is assumed as an aggregation of oscillators, a robot system tries to keep the value of the specific function that indicate its uncomfortable level small the whole time.  ...  Based on these facts, a method of control to generate homeostasis in robotic systems is proposed by assuming a robot system is an aggregation of oscillators in this paper.  ... 
doi:10.1527/tjsai.30.1 fatcat:vekgecuhuffazf6tjfzhi2ojoy

Progressive automation of periodic tasks on planar surfaces of unknown pose with hybrid force/position control

Fotios Dimeas, Zoe Doulgeri
2020 Zenodo  
While the level of automation increases, a hybrid force/position controller is progressively engaged for the autonomous operation of the robot.  ...  Using the framework of progressive automation for compliance adaptation, the robot transitions seamlessly and bi-directionally between hand guidance and autonomous operation within few repetitions of the  ...  We utilize κ (Fig. 2 ) as a weight in the control gains for shared control as well as in the adaptation rules to suspend any further adaptation of the DMP when the robot has learned the task.  ... 
doi:10.5281/zenodo.4032335 fatcat:baerc5ilhnfi7lz7joouz4gwl4

CPU-less robotics: distributed control of biomorphs

Ralph Etienne-Cummings, M. Anthony Lewis, Mitra Hartmann, Avis H. Cohen, Sunny Bains, Leo J. Irakliotis
2000 Critical Technologies for the Future of Computing  
We demonstrate this idea in with an adaptive locomotion controller chip. The locomotory controller for walking, running, swimming and flying animals is based on a Central Pattern Generator (CPG).  ...  CPGs are modeled as systems of coupled non-linear oscillators that control muscles responsible for movement.  ...  This work represents the first experimental results of an adaptive VLSI neural chip controlling a robot leg.  ... 
doi:10.1117/12.409207 fatcat:gmfjkjcxxfaw5fu42x5secamuq

Fluid-Filled Soft-Bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold

Takuya Umedachi, Ryo Idei, Toshiyuki Nakagaki, Ryo Kobayashi, Akio Ishiguro
2012 Advanced Robotics  
The results obtained are expected to shed new light on design scheme for autonomous decentralized control systems.  ...  The experimental results show that this robot exhibits adaptive locomotion without relying on any hierarchical structure.  ...  Coupled oscillator system with local sensory feedback based on discrepancy function For generating adaptive amoeboid locomotion, we have employed coupled oscillator system with the local sensory feedback  ... 
doi:10.1163/156855312x626316 fatcat:azxvuyklzjdgbmfeway63rr264

Finding Resonance: Adaptive Frequency Oscillators for Dynamic Legged Locomotion

Jonas Buchli, Fumiya Iida, Auke Ijspeert
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The approach uses adaptive frequency oscillators to automatically tune the intrinsic frequency of the oscillators to the resonant frequency of a compliant quadruped robot.  ...  We also provide an analysis of the convergence of the frequency adaptation for a linearized plant, and show how that analysis is useful for determining which type of sensory feedback must be used for stable  ...  ACKNOWLEDGMENTS The authors would like to thank Ludovic Righetti for helpful discussions. This research is supported by the Swiss National Science  ... 
doi:10.1109/iros.2006.281802 dblp:conf/iros/BuchliII06 fatcat:vribjcqgerehrfkvywy76xrrrq

Timed trajectory generation for a toy-like wheeled robot

Jorge Bruno Silva, Vitor Matos, Cristina Santos
2010 IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society  
Robot velocity is controlled through an Hopf oscillator, adapted according to temporal feedback.  ...  Timing of the velocity profile is modulated according to an adaptive mechanism that enables setting different times for acceleration and deceleration.  ...  The proposed system is able to adapt the robot velocity in order to safely overcome obstacles.  ... 
doi:10.1109/iecon.2010.5676132 fatcat:tncrqkodwrd4bjoulafugofezq

Generating trajectories with temporal constraints for an autonomous robot

Jorge Bruno Silva, Vitor Matos, Cristina Santos
2010 2010 IEEE Safety Security and Rescue Robotics  
We use an Hopf oscillator whose solution controls velocity, adapted according to temporal feedback.  ...  We have also proposed an adaptive mechanism for frequency modulation of the velocity profile that enables setting different times for acceleration and deceleration.  ...  We propose an adaptive mechanism for frequency modulation of the velocity profile based on the oscillators current state, that enables setting different times for acceleration and deceleration.  ... 
doi:10.1109/ssrr.2010.5981551 fatcat:7jliwcdjmbckxgf2oi7jlane6q

Oscillation Analysis in Behavior-Based Robot Architectures [chapter]

Lisa Wilhelm, Martin Proetzsch, Karsten Berns
2009 Autonome Mobile Systeme 2009  
This paper presents a method for detecting oscillations in behavior-based robot control networks. Two aspects are considered.  ...  Results of the oscillation analysis are presented using appropriate visualization techniques. The suitability of the proposed approach is shown by an indoor application.  ...  The oscillation detection algorithm presented here was developed on the basis of the techniques used by electrical engineers and adapted to the behavior-based robot control system iB2C (integrated Behavior-Based  ... 
doi:10.1007/978-3-642-10284-4_16 dblp:conf/ams/WilhelmPB09 fatcat:bazu3pc5ivhxfffwjne5n6owje

Biologically Inspired Self-Stabilizing Control for Bipedal Robots

Woosung Yang, Hyungjoo Kim, Bum Jae You
2013 International Journal of Advanced Robotic Systems  
To address the issue an efficient and powerful alternative based on a biologically inspired control framework employing neural oscillators is proposed and tested.  ...  In a numerical test the virtual force controller combined with the neural oscillator of a humanoid robot generated rhythmic control signals and stable bipedal locomotion when coupled with proper impedance  ...  of the MAHRU robot under an unknown sinusoidal disturbance of 1.9G with the neural oscillator based controller.  ... 
doi:10.5772/55463 fatcat:gfg3f2m2lbafhfadhpnuufisy4

An electromyography-driven central pattern generator model for robotic control application

Kui Xiang, Shuxiang Guo, Zhibin Song
2012 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
The CPG model was designed based on an echo state network (ESN) which was a large, random, recurrent neural network. The frequency modulating from inputs to outputs was researched in this study.  ...  A new CPG model driven by surface electromyography (sEMG) was presented in this paper to manipulate robots more favorably without loss of their autonomous capability.  ...  The elbow position was acquired as input signal to drive the adaptive oscillator and control an assistive exoskeleton.  ... 
doi:10.1109/robio.2012.6491270 dblp:conf/robio/XiangGS12 fatcat:ksnmtdpn7bge3a77lbldcfepsy

Improving the energy efficiency of autonomous underwater vehicles by learning to model disturbances

Petar Kormushev, Darwin G. Caldwell
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a novel approach for improving the energy efficiency of AUV controllers based on the ability to learn which external disturbances can safely be ignored.  ...  The proposed learning approach uses adaptive oscillators that are able to learn online the frequency, amplitude and phase of zeromean periodic external disturbances.  ...  ACKNOWLEDGMENTS We would like to thank Arnau Carrera, Narcís Palomeras, and Marc Carreras from the Computer Vision and Robotics Group (VICOROB), University of Girona, Spain, for providing the specialized  ... 
doi:10.1109/iros.2013.6696912 dblp:conf/iros/KormushevC13 fatcat:nygj5ojalnanngcpn5w3cqq4um

Fault-tolerant gait learning and morphology optimization of a polymorphic walking robot

David Johan Christensen, Jørgen Christian Larsen, Kasper Stoy
2013 Evolving Systems  
To address this limitation, in future work we plan to study co-learning of morphological and control parameters directly on physical robots.  ...  We also optimize offline the reachable space of a foot based on a reference design but finds that the reality gap hardens the successfully transference to the physical robot.  ...  "Locomorph" project funded by the EU's Seventh Framework Programme (Future Emerging Technologies, Embodied Intelligence) and as part of the "Assemble and Animate" project funded by the Danish Council for  ... 
doi:10.1007/s12530-013-9088-3 fatcat:zkn2pxdzwzcyzjt5ms3c273cce

Autonomous transportation and deployment with aerial robots for search and rescue missions

Markus Bernard, Konstantin Kondak, Ivan Maza, Anibal Ollero
2011 Journal of Field Robotics  
., 2004) the distributed coordinated control of two rovers, carrying a 2.5 meters long mockup of a photovoltaic tent, is presented and demonstrated as an example of the CAMPOUT behavior-based control architecture  ...  The joint transportation of a load by several ground robots has been an active subject of research and development for many years.  ...  The system presented in this work provides the full autonomous control of single-lift slung load configurations (based on small size helicopters), including the active damping of load oscillations.  ... 
doi:10.1002/rob.20401 fatcat:zc4ryoijvze6vkcdkvv2mhqv2u

Autonomous Optimization of Swimming Gait in a Fish Robot With Multiple Onboard Sensors

Wei Wang, Dongbing Gu, Guangming Xie
2017 IEEE Transactions on Systems, Man & Cybernetics. Systems  
Autonomous gait optimization is an essential survival ability for mobile robots. However, it remains a challenging task for underwater robots.  ...  Our approach for learning locomotion controllers mainly uses three components: 1) a biological concept of central pattern generator to obtain specific gaits; 2) an onboard sensory processing center to  ...  Cheng for his contributions in carrying out the experiments and L. Li and C. Wang for their valuable discussions.  ... 
doi:10.1109/tsmc.2017.2683524 fatcat:i7ylr7cjv5hfvompf75surjwdu

Robot control with biological cells

Soichiro Tsuda, Klaus-Peter Zauner, Yukio-Pegio Gunji
2007 Biosystems (Amsterdam. Print)  
This paper presents a bio-hybrid architecture developed for exploring an alternate approach to the control of autonomous robots.  ...  At present there exists a large gap in size, performance, adaptability and robustness between natural and artificial information processors for performing coherent perception-action tasks under real-time  ...  Acknowledgments The authors thank Masashi Aono for discussions and technical advise.  ... 
doi:10.1016/j.biosystems.2006.09.016 pmid:17188804 fatcat:otmyasbjpvftxpyqoutnphdlkq
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