Abstract
A neural oscillator model is applied to swing/giant-swing control of an under-actuated double pendulum. The oscillator receives the angle signal of the upper link and provides a relative angle of the lower link. The oscillator tunes itself to the natural dynamics of the pendulum system so as to increase the swing amplitude, and finally the pendulum system enters the phase of giant swing motion. A most remarkable result is that transition from simple swing to giant swing is attained without changing the values of the parameters of the neural oscillator at all.
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© 2005 Springer-Verlag Berlin Heidelberg
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Matsuoka, K., Ohyama, N., Watanabe, A., Ooshima, M. (2005). Control of a Giant Swing Robot Using a Neural Oscillator. In: Wang, L., Chen, K., Ong, Y.S. (eds) Advances in Natural Computation. ICNC 2005. Lecture Notes in Computer Science, vol 3611. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11539117_41
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DOI: https://doi.org/10.1007/11539117_41
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28325-6
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