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Neuron model interpretation of a cyclic motion control concept

Lakatos, Dominic and Albu-Schäffer, Alin (2014) Neuron model interpretation of a cyclic motion control concept. In: 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 905-910. IEEE. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 12.-15. Aug. 2014, Sao Paulo, Brasilien. DOI: 10.1109/BIOROB.2014.6913896 ISBN 978-1-4799-3126-2

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Abstract

Elastic properties of muscles and tendons are assumed to play a central role for the energy efficiency and robustness of locomotion in biological systems. Yet, the way in which the nervous system controls highly nonlinear body dynamics to produce stable periodic motions is far from being well understood. On the basis of a simple but very effective control law, which we developed and verified for variable impedance robots, we propose a controller model, which might be a very plausible hypothesis also for biological systems. The original robot controller has a bang-bang action triggered by the generalized force acting along a coordinate corresponding to the principal oscillation mode of the system. This coordinate is computed in a model-free, adaptive manner. It turns out that the control law can be easily realized with a neural network, whose weights are adapted according to the Hebbian learning rule. If this hypothesis is confirmed, cyclic body motions can be very easily and robustly implemented, with a surprisingly small number of neurons.

Item URL in elib:https://elib.dlr.de/93359/
Document Type:Conference or Workshop Item (Speech)
Title:Neuron model interpretation of a cyclic motion control concept
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:August 2014
Journal or Publication Title:5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/BIOROB.2014.6913896
Page Range:pp. 905-910
Publisher:IEEE
Series Name:Proceedings of the 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISBN:978-1-4799-3126-2
Status:Published
Keywords:Adaptation models Biological system modeling Neurons Oscillators Cyclic motions
Event Title:2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
Event Location:Sao Paulo, Brasilien
Event Type:international Conference
Event Dates:12.-15. Aug. 2014
Organizer:IEEE RAS & EMBS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik, R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lakatos, Dominic
Deposited On:09 Jan 2015 16:29
Last Modified:31 Jul 2019 19:50

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