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

Table 2

Each parameter selected by the proposed tuning algorithm.

Neural Oscillators	1	2	3	Control gains
Inhibitory weight ()	1.897	2.540	2.284	Virtual spring stiffness coef. ()	1897.6
Adaptation constant ()	3.339	3.092	3.229	Virtual damping coef. ()	65.341
Tonic input ()	1.116	1.658	1.175	Propotional gain for 1st neural input ()	1.247
Sensory gain ()	2.298	1.013	1.383	Propotional gain for 2nd neural input ()	3.014
Rising time constant ()	0.295	0.222	0.160	Propotional gain for 3rd neural input  ()	2.502
Adatation time constant ()	0.590	0.444	0.320