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Synchronized Coordination for Omni-directional Mobile Robot with Hemi-circular Wheels using Neural Oscillator
- Authors
- Manzoor, Sajjad; Lee, Seonghan; Choi, Youngjin
- Issue Date
- Oct-2013
- Publisher
- IEEE
- Keywords
- Neural Oscillator; Coupled oscillator; Central Pattern Generator (CPG); Omni-directional Mobile Robot
- Citation
- 2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013), pp 1534 - 1536
- Pages
- 3
- Indexed
- SCIE
SCOPUS
- Journal Title
- 2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013)
- Start Page
- 1534
- End Page
- 1536
- ISSN
- 2093-7121
- Abstract
- The paper presents an application example of neural oscillator for synchronized wheel coordination of omni-directional mobile robot with hemi-circular wheels. In this paper, a six neuronal network drives three hemi-circular wheels of the robot. The velocity of each wheel is controlled by coupled neuron firing. These neurons are synchronized, activated, and suppressed according to the required motion. Unlike usual motion, the movement generated from the neural oscillator is normally oscillatory one for the hemi-circular wheels.
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Related Researcher
- Choi, Youngjin
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)