Synchronization of Non-linear Oscillators for Neurobiologically Inspired Control on a Bionic Parallel Waist of Legged Robot.

ABSTRACT: Synchronization of coupled non-linear oscillators inspired by a central pattern generator (CPG) can control the bionic robot and promote the coordination and diversity of locomotion. However, for a robot with a strong mutual coupled structure, such neurobiological control is still missing. In this contribution, we present a σ-Hopf harmonic oscillator with decoupled parameters to expand the solution space of the locomotion of the robot. Unlike the synchronization of original Hopf oscillators, which has been fully discussed, the asymmetric factor of σ-Hopf oscillator causes a deformation in oscillation waveform. Using the non-linear synchronization theory, we construct the transition state model of the synchronization process to analyze the asymmetrical distortion, period change and duty rat

SUBMITTER: Zhu Y 

PROVIDER: S-EPMC6687854 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature