• Advances in robotics research
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• 제1권1호
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• pp.101-126
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• 2014

In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.

• Biomaterials and Biomechanics in Bioengineering
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• 제2권4호
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• pp.249-269
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• 2015

A problem faced by oil companies is the maintenance of the location register of pipelines that cross the surf zone, the regular survey of their location, and also their inspection. A survey of the state of art did not allow identifying operating systems capable of executing such tasks. Commercial technologies available on the market also do not address this problem and/or do not satisfy the presented requirements. A possible solution is to use robotic systems which have the ability to walk on the shore and in the surf zone, subject to existing currents and ripples, and being able to withstand these ambient conditions. In this sense, the authors propose the development of a spider crab biologically inspired robot to achieve those tasks. Based on these ideas, this work presents a biomechanical study of the spider crab, its modeling and simulation using the SimMechanics toolbox of Matlab/Simulink, which is the first phase of this more vast project. Results show a robot model that is moving in an "animal like" manner, the locomotion, the algorithm presented in this paper allows the crab to walk sideways, in the desired direction.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1020-1024
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• 2005

In this paper, an approach to dynamic systems control is addressed based on exploiting the potential features of the new nonlinear neural oscillator. Neural oscillators have recently enabled robots to exhibit natural dynamics using their robustness and entrainment properties. To technically accomplish this objective, the neural oscillator should be connected to the robot joints under the sensory feedback. This also requires the neural oscillator to adapt to the non-periodic nature of arbitrary input patterns. However, even in the most widely-used Matsuoka oscillator, when an unknown quasi-periodic or non-periodic signal is applied, its output signal is not always closely entrained. Therefore, current neural oscillators may not be applied to the precise control of the dynamic systems response. We illustrate the enhanced entrainment properties of the new neural oscillator by numerical simulation and show the possibility for implementation to control a variety of dynamic systems. It is verified that the oscillator can produce rhythmic signals for generating actuator signals which can be naturally modified by incorporating sensory feedback to adapt to outer circumstances.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.485-488
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• 2016

In this paper, the mechanism that works by using eight legs is proposed. The walker has eleven bars instead of wheel, it shows a Biologically-inspired movement method. their driving appearance is very similar with creature which walks by its legs. For example, a crab and spider so on. This mechanism has simple style that can expand its size and attach more legs beside. For the competition regulation, we had to find working parts in the science box and some other things that can be found easily in the surroundings only usual material. The mission is making a machine that is enable to pass obstacle and to walk well. This paper followed the rules by regulation.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.606-611
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• 2014

The understanding of another's behavior is a fundamental cognitive ability for primates including humans. Recent neuro-physiological studies suggested that there is a direct matching algorithm from visual observation onto an individual's own motor repertories for interpreting cognitive ability. The mirror neurons are known as core regions and are handled as a functionality of intent recognition on the basis of imitative learning of an observed action which is acquired from visual-information of a goal-directed action. In this paper, we addressed previous works used to model the function and mechanisms of mirror neurons and proposed a computational model of a mirror neuron system which can be used in human-robot interaction environments. The major focus of the computation model is the reproduction of an individual's motor repertory with different embodiments. The model's aim is the design of a continuous process which combines sensory evidence, prior task knowledge and a goal-directed matching of action observation and execution. We also propose a biologically inspired plausible equation model.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권2호
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• pp.127-134
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• 2004

In this paper, human motor behaving model based sensory motor coordination(SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models which connect sensor to motor directly, the proposed method used biologically inspired human behaving system in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensory data are simultaneously transferred to perceptual mechanism(PM) and long term memory(LTM), and then the sensory information is forwarded to the fastest channel among several information-processing flows in human motor system. In this model, two motor learning routes are proposed. One of the route uses PM and the other uses short term memory(STM) and LTM structure. Through motor learning procedure, successful information is transferred from STM to LTM. Also, LTM data are used for next moor plan as reference information. STM is designed to single layered perception neural network to generate fast motor plan and receive required data which comes from LTM. Experimental results showed that proposed method can control of the grasping force adaptable to various shapes and types of greasing objects, and also it showed quicker grasping-behavior lumining time compare to simple feedback system.