Synchronized Coordination for Omni-directional Mobile Robot with Hemi-circular Wheels using Neural Oscillator
- Title
- Synchronized Coordination for Omni-directional Mobile Robot with Hemi-circular Wheels using Neural Oscillator
- Author
- 최영진
- Keywords
- Neural Oscillator; Coupled oscillator; Central Pattern Generator (CPG); Omni-directional Mobile Robot
- Issue Date
- 2013-10
- Publisher
- IEEE
- Citation
- 2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013), Page. 1534-1536
- Abstract
- The paper presents an application example of neural oscillator for synchronized wheel coordination of omni-directional mobile robot with hemi-circular wheels. In this paper, a six neuronal network drives three hemi-circular wheels of the robot. The velocity of each wheel is controlled by coupled neuron firing. These neurons are synchronized, activated, and suppressed according to the required motion. Unlike usual motion, the movement generated from the neural oscillator is normally oscillatory one for the hemi-circular wheels.
- URI
- https://ieeexplore.ieee.org/document/6704131https://repository.hanyang.ac.kr/handle/20.500.11754/180889
- ISSN
- 2093-7121
- DOI
- 10.1109/ICCAS.2013.6704131
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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