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

Figure 13

A comparison of the adaptive behavior in collision with a vertically modelled-sphere wall: (a), (d) snapshots of the robotic arm, (b) the trajectory, and (c) the angles drawn by the end-effector and each joint of the robot arm without coupling to the neural oscillator and with coupling to the neural oscillator, respectively; (e) the trajectory drawn by the end-effector; (f) the angles measured at each joint of the robot arm and the output of the neural oscillators.

(a)

(b)

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(f)