Oscillatory Neural Networks for Robotic Yo-Yo Control  

Oleh:

Zacksenhouse, M. ; Jin, Hui-Liang

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Neural Networks vol. 14 no. 2 (2003), page 317-325.
Topik: neural network; oscillatory; neural networks; robotic yo - yo control

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II36.7 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

Lihat Detail Induk

Isi artikel

Different networks of coupled oscillators were developed for open - loop control of periodic motion. However, some tasks, like yo - yo playing, are open - loop unstable and require proper phase locking to stabilize. Given the phase - locking property of coupled oscillators, we investigate their application to closed -loop control of open - loop unstable systems, concentrating on the challenging task of yo - yo control. In particular, we focus on pulse - coupling, where the yo - yo sends a feedback upon reaching the bottom of the string and the onset of the oscillatory cycle is used to trigger the movement. Four networks involving either a stand-alone or a circuit level oscillator with either excitatory or inhibitory couplings are considered. Working curve analysis indicates that three of the networks cannot stabilize the yo - yo. The fourth network, which is based on a circuit - level oscillator, is analyzed using the return map and the region of stability is determined and verified by simulations. The resulting pulse - coupled oscillatory control provides a model - free control strategy that operates with an easy - to - measure low - rate feedback.

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