Yang, Woosung Bae, Ji-Hun Oh, Yonghwan Chong, Nak Young You, Bum Jae 2024-01-19T13:08:05Z 2024-01-19T13:08:05Z 2022-03-07 2009 https://pubs.kist.re.kr/handle/201004/116042 It is known that biologically inspired neural systems could exhibit natural dynamics efficiently and robustly for motion control, especially for rhythmic motion tasks. In addition, humans or animals exhibit natural adaptive motions without considering their kinematic configurations against unexpected disturbances or environment changes. In this paper, we focus on rhythmic arm motions that can be achieved by using a controller based on neural oscillators and virtual force. In comparison with conventional researches, this work treats neither trajectories planning nor inverse kinematics. Instead of those, a few desired points in task-space and a control method with Jacobian transpose and joint velocity damping are merely adopted. In addition, if the joints of robotic arms are coupled to neural oscillators, they may be capable of achieving biologically inspired motions corresponding to environmental changes. To verify the proposed control scheme, we perform some simulations to trace a desired motion and show the potential features related with self-adaptation that enables a three-link planar arm to make adaptive changes from the given motion to a compliant motion. Specifically, we investigate that human-like movements and motion repeatability are satisfied under kinematic redundancy of joints. English IEEE Biologically Inspired Control for Robotic Arm Using Neural Oscillator Network Conference 10.1109/IROS.2009.5354357 1 IEEE RSJ International Conference on Intelligent Robots and Systems, pp.135 - 141 IEEE RSJ International Conference on Intelligent Robots and Systems 135 141 US St Louis, MO 2009-10-10 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 000285372900022 2-s2.0-76349088987 Proceedings Paper