Global entrainment effect on biped robot locomotion energy

In recent years, many researchers have studied the generation of rhythmic movement emerge as a stable limit cycle from global entrainment between biological neural networks that include central pattern generators (CPGs) and physical systems (i.e. robot arm) interacting with external environment. How...

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Main Authors: Za'balawi, I.I., Kiong, L.C., Kiong, W.E., Senanayake, S.M.N.A.
Format: Article
Published: ACTA Press 2009
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Online Access:http://eprints.um.edu.my/5201/
http://www.actapress.com/Abstract.aspx?paperId=36953
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Institution: Universiti Malaya
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spelling my.um.eprints.52012014-12-11T03:22:51Z http://eprints.um.edu.my/5201/ Global entrainment effect on biped robot locomotion energy Za'balawi, I.I. Kiong, L.C. Kiong, W.E. Senanayake, S.M.N.A. T Technology (General) In recent years, many researchers have studied the generation of rhythmic movement emerge as a stable limit cycle from global entrainment between biological neural networks that include central pattern generators (CPGs) and physical systems (i.e. robot arm) interacting with external environment. However, the e�ect of global entrainment on biped locomotion energy has yet to be addressed. This paper delineates an approach to minimize biped�s locomotion energy by means of global entrainment. The rhythmic movements for biped locomotion such as walking and running are generated by CPG using coupled nonlinear oscillators of Van Der Pol (VDP). Tuning VDP oscillator parameters to meet certain criteria (i.e. minimum energy) is a di�cult task to accomplish. This is due to the nonlinearity and the coupling of the oscillators. To overcome these di�culties, response surface methodology (RSM) has been proposed to characterize VDP parameters to achieve e�cient energy for biped locomotion. Then, global entrainment has been implemented between �ve-link biped robot and the constructed CPG. As a result, the sensory information modulates VDP oscillators� frequencies and tuned them to the resonance frequencies of the biped link lengths. The obtained results show an evidence of the importance of global entrainment in achieving lower energy for biped locomotion while maintaining the same or even higher forward velocity. ACTA Press 2009 Article PeerReviewed Za'balawi, I.I. and Kiong, L.C. and Kiong, W.E. and Senanayake, S.M.N.A. (2009) Global entrainment effect on biped robot locomotion energy. International Journal of Robotics and Automation, 24 (6). ISSN 0826-8185 http://www.actapress.com/Abstract.aspx?paperId=36953
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic T Technology (General)
spellingShingle T Technology (General)
Za'balawi, I.I.
Kiong, L.C.
Kiong, W.E.
Senanayake, S.M.N.A.
Global entrainment effect on biped robot locomotion energy
description In recent years, many researchers have studied the generation of rhythmic movement emerge as a stable limit cycle from global entrainment between biological neural networks that include central pattern generators (CPGs) and physical systems (i.e. robot arm) interacting with external environment. However, the e�ect of global entrainment on biped locomotion energy has yet to be addressed. This paper delineates an approach to minimize biped�s locomotion energy by means of global entrainment. The rhythmic movements for biped locomotion such as walking and running are generated by CPG using coupled nonlinear oscillators of Van Der Pol (VDP). Tuning VDP oscillator parameters to meet certain criteria (i.e. minimum energy) is a di�cult task to accomplish. This is due to the nonlinearity and the coupling of the oscillators. To overcome these di�culties, response surface methodology (RSM) has been proposed to characterize VDP parameters to achieve e�cient energy for biped locomotion. Then, global entrainment has been implemented between �ve-link biped robot and the constructed CPG. As a result, the sensory information modulates VDP oscillators� frequencies and tuned them to the resonance frequencies of the biped link lengths. The obtained results show an evidence of the importance of global entrainment in achieving lower energy for biped locomotion while maintaining the same or even higher forward velocity.
format Article
author Za'balawi, I.I.
Kiong, L.C.
Kiong, W.E.
Senanayake, S.M.N.A.
author_facet Za'balawi, I.I.
Kiong, L.C.
Kiong, W.E.
Senanayake, S.M.N.A.
author_sort Za'balawi, I.I.
title Global entrainment effect on biped robot locomotion energy
title_short Global entrainment effect on biped robot locomotion energy
title_full Global entrainment effect on biped robot locomotion energy
title_fullStr Global entrainment effect on biped robot locomotion energy
title_full_unstemmed Global entrainment effect on biped robot locomotion energy
title_sort global entrainment effect on biped robot locomotion energy
publisher ACTA Press
publishDate 2009
url http://eprints.um.edu.my/5201/
http://www.actapress.com/Abstract.aspx?paperId=36953
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