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