Biologically Inspired Robotic Arm Control Using an Artificial Neural Oscillator

Table 1

Parameters of the neural oscillator and robot arm model.

Initial parameters
Neural oscillator $(1)$		Neural oscillator $(2)$
Inhibitory weight $(w_1)$	1.7	Inhibitory weight $(w_2)$	1.7
Time constant $(T_{r1})$	0.68	Time constant $(T_{r2})$	0.7
Time constant $(T_{a1})$	1.36	Time constant$(T_{a2})$	1.4
Sensory gain $(k_1)$	3.1	Sensory gain $(k_2)$	15.6
Tonic input $(s_1)$	1.0	Tonic input $(s_2)$	1.0
Robot arm model
Mass 1 $(m_1)$	2.347 kg	Mass 2 $(m_2)$	0.834 kg
Inertia 1 $(I_1)$	0.0098 kgm^2	Inertia 2 $(I_2)$	0.0035 kgm^2
Length 1 $(l_1)$	0.224 m	Length 2 $(I_2)$	0.225 m