Biologically Inspired Robot Control

1994 ◽  
Vol 27 (11) ◽  
pp. 379-383
Author(s):  
George A. Bekey ◽  
M. Anthony Lewis
Keyword(s):  
Robot Control ◽  
Biologically Inspired ◽  
Biologically Inspired Robot

scholarly journals Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism

10.5772/5763 ◽  
2006 ◽  
Vol 3 (1) ◽  
pp. 2 ◽  
Author(s):  
Jochen Maaß ◽  
Nnamdi Kohn ◽  
Jürgen Hesselbach
Keyword(s):  
Robot Control ◽  
Control Architecture ◽  
Modular Robot

scholarly journals Evolution of central pattern generators for the control of a five-link bipedal walking mechanism

2012 ◽  
Vol 3 (1) ◽  
Author(s):  
Atılım Güneş Baydin
Keyword(s):  
Robot Control ◽  
Central Pattern Generators ◽  
Legged Locomotion ◽  
Bipedal Walking ◽  
Biologically Inspired ◽  
Neurophysiological Studies ◽  
Real Robot ◽  
Pattern Generators ◽  
And Performance ◽  
Walking Mechanism

AbstractCentral pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with accurate physics. We apply this technique to a five-link planar walking mechanism to demonstrate its feasibility and performance. In addition, to see whether results from simulation can be acceptably transferred to real robot hardware, the best evolved CPG network is also tested on a real mechanism. Our results also confirm that the biologically inspired CPG model is well suited for legged locomotion, since a diverse manifestation of networks have been observed to succeed in fitness simulations during evolution.

scholarly journals Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

10.5772/7240 ◽  
2010 ◽  
Vol 7 (1) ◽  
pp. 7 ◽  
Author(s):  
Geert De Cubber ◽  
Sid Ahmed Berrabah ◽  
Daniela Doroftei ◽  
Yvan Baudoin ◽  
Hichem Sahli
Keyword(s):  
Structure From Motion ◽  
Robot Control ◽  
Control Architecture ◽  
Visual Slam ◽  
Dense Structure ◽  
Behavior Based

Dynamics and Simulation of General Human and Humanoid Motion in Sports

2011 ◽  
pp. 36-62 ◽  
Author(s):  
Veljko Potkonjak ◽  
Miomir Vukobratovic ◽  
Kalman Babkovic ◽  
Branislav Borovac
Keyword(s):  
Mathematical Models ◽  
Motion Planning ◽  
Mathematical Analysis ◽  
Humanoid Robot ◽  
Dynamic Control ◽  
Humanoid Robots ◽  
Assistive Devices ◽  
Kinematics And Dynamics ◽  
Biologically Inspired ◽  
Biologically Inspired Robot

This chapter relates biomechanics to robotics. The mathematical models are derived to cover the kinematics and dynamics of virtually any motion of a human or a humanoid robot. Benefits for humanoid robots are seen in fully dynamic control and a general simulator for the purpose of system designing and motion planning. Biomechanics in sports and medicine can use these as a tool for mathematical analysis of motion and disorders. Better results in sports and improved diagnostics are foreseen. This work is a step towards the biologically-inspired robot control needed for a diversity of tasks expected in humanoids, and robotic assistive devices helping people to overcome disabilities or augment their physical potentials. This text deals mainly with examples coming from sports in order to justify this aspect of research.

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