Synchronized Robot Motion by Neural Oscillators

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  • 川人学習動態脳プロジェクト　　神経振動子を用いたロボットのリズミックな運動生成
  • シンケイ シンドウシ オ モチイタ ロボット ノ リズミック ナ ウンドウ セイセイ
  • カイセツ シンケイ シンドウシ オ モチイタ ロボット ノ リズミック ナ ウンドウ セイセイ

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Abstract

Sensory-motor integration is one of the key issues in robotics. In this paper, we propose an approach to rhythmic arm movement control that is synchronized with an external signal based on exploiting a simple neural oscillator network. Trajectory generation by the neural oscillator is a biologically inspired method that can allow us to generate a smooth and continuous trajectory. The parameter tuning of the oscillators is used to generate a synchronized movement with wide intervals. We adopted the method for the drumming task as an example task. By using this method, the robot can realize synchronized drumming with wide drumming intervals in real time. The paper also shows the experimental results of drumming by a humanoid robot.

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