Self-adapting robot arm movement employing neural oscillators

摘要

This paper proposes a neural oscillator based control to attain rhythmically dynamic movements of a robot arm. In human or animal, it is known that neural oscillators could produce rhythmic commands efficiently and robustly under the changing task environment. In particular, entrainments of the neural oscillator play a key role to adapt the nervous system to the natural frequency of the interacted environments. Hence, we discuss how a robot arm controls for exhibiting natural adaptive motions as a controller employing the entrainment property. To demonstrate the excellence of entrainment, we implement the proposed control scheme to a real robot arm. Then this work shows the performance of the robot arm coupled to neural oscillators in various tasks that the arm traces a trajectory. Exploiting the neural oscillator and its entrainment property, we experimentally verify an impressive capability of self-adaptation of the neural oscillator that enables the robot arm to make adaptive changes corresponding to an exterior environment.