Research Article
Task-Oriented Parameter Tuning Based on Priority Condition for Biologically Inspired Robot Application
Table 1
Initial parameters (for neural oscillator and control method) and mechanical model.
| Neural oscillator | | Control gains | | Inhibitory weight () | 2.0 | Virtual spring stiffness coef. () | 50.0 | Adaptation constant () | 2.0 | Virtual damping coef. () | 10.6 | Tonic input () | 1.0 | Propotional gain for 1st neural input () | 1.0 | Sensory gain () | 1.0 | Propotional gain for 2nd neural input () | 1.0 | Rising time constant () | 0.1 | Propotional gain for 3rd neural input () | 1.0 | Adaptation time constant () | 0.2 | | | 3-DOF robot arm model | | | | Mass (link 1, link 2, and link 3) | | 1 kg 1 kg 1 kg | | Viscosity | | 4.5 Ns/m | | Length (link 1, link 2, and link 3) | | 0.25 m 0.25 m 0.25 m | |
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