Synchronized Robot Drumming by Neural Oscillator
Synchronized Robot Drumming by Neural Oscillator
复制标题
神经振荡器同步机器人击鼓
DOI：
10.7210/jrsj.19.116
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
S. Schaal
中科院分区：
文献类型：
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作者：
S. Kotosaka;S. Schaal
感觉运动集成是机器人技术的关键问题之一。在本文中，我们提出了一种基于利用简单的神经振荡器网络与外部信号同步的有节奏的手臂运动控制方法。神经振荡器生成轨迹是一种受生物学启发的方法，可以让我们生成平滑且连续的轨迹。振荡器的参数调整用于生成具有宽间隔的同步运动。我们采用击鼓任务的方法作为示例任务。通过该方法，机器人可以实时实现宽击鼓间隔的同步击鼓。论文还展示了人形机器人击鼓的实验结果。
Sensory-motor integration is one of the key issues in robotics. In this paper, we propose an approach to rhythmic arm movement control that is synchronized with an external signal based on exploiting a simple neural oscillator network. Trajectory generation by the neural oscillator is a biologically inspired method that can allow us to generate a smooth and continuous trajectory. The parameter tuning of the oscillators is used to generate a synchronized movement with wide intervals. We adopted the method for the drumming task as an example task. By using this method, the robot can realize synchronized drumming with wide drumming intervals in real time. The paper also shows the experimental results of drumming by a humanoid robot.