Neural oscillator network-based controller for meandering locomotion of snake-like robots

In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture

Exploration of Neural Structures for Dynamic System Control

Biological neural systems are powerful mechanisms for controlling biological sys- tems. While the complexity of biological neural networks makes exact simulation intractable, several key aspects lend themselves to implementation on computational systems. This thesis constructs a discrete event neural network simulation that implements aspects of biological neural networks. A combined genetic programming/simulated annealing approach is utilized to design network structures that function as regulators for continuous time dynamic systems in the presence of process noise when simulated using a discrete event neural simulation. Methods of constructing such networks are analyzed including examination of the final network structure and the algorithm used to construct the networks. The parameters of the network simulation are also analyzed, as well as the interface between the network and the dynamic system. This analysis provides insight to the construction of networks for more complicated control applications

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion