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Mathematical Problems in Engineering
Volume 2015, Article ID 506491, 14 pages
http://dx.doi.org/10.1155/2015/506491
Research Article

Task-Oriented Parameter Tuning Based on Priority Condition for Biologically Inspired Robot Application

School of Robotics, Kwangwoon University, 447-1 Wolgye-Dong, Nowon-Gu, Seoul 139-701, Republic of Korea

Received 16 December 2014; Revised 15 May 2015; Accepted 24 May 2015

Academic Editor: Emilio Insfran

Copyright © 2015 Jaesung Kwon et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This work gives a biologically inspired control scheme for controlling a robotic system. Novel adaptive behaviors are observed from humans or animals even in unexpected disturbances or environment changes. This is why they have neural oscillator networks in the spinal cord to yield rhythmic-motor primitives robustly under a changing task. Hence, this work focuses on rhythmic arm movements that can be accomplished in terms of employing a control approach based on an artificial neural oscillator model. The main challenge is to determine various parameters for applying a neural feedback to robotic systems with performing a desired behavior and self-maintaining the entrainment effect. Hence, this work proposes a task-oriented parameter tuning algorithm based on the simulated annealing (SA). This work also illustrates how to technically implement the proposed control scheme exploiting a virtual force and neural feedback. With parameters tuned, it is verified in simulations that a 3-DOF planar robotic arm traces a given trajectory precisely, adapting to uneven external disturbances.