On-line frequency adaptation and movement imitation for rhythmic robotic tasks

International Journal of Robotics Research

Volumn 30, Issue 14, 2011, Pages 1775-1788

  Petrič, Tadej ^a   Gams, Andrej ^a   Ijspeert, Auke Jan ^b   Žlajpah, Leon ^a  

^a JO EF STEFAN INSTITUTE   (Slovenia)

^b EPFL   (Switzerland)

Author keywords

adaptive Fourier series; Adaptive oscillators; rhythmic movements

Indexed keywords

ADAPTIVE FREQUENCY; ARBITRARY WAVEFORM; FEED-BACK LOOP; FOURIER; FREQUENCY ADAPTATION; FREQUENCY COMPONENTS; FREQUENCY EXTRACTION; LOGICAL OPERATIONS; PERIODIC SIGNAL; REAL TIME; RHYTHMIC MOVEMENTS; ROBOTIC TASKS; SERIES REPRESENTATIONS; SINGLE OSCILLATORS;

DYNAMICAL SYSTEMS; LINEAR CONTROL SYSTEMS; ROBOTICS; ROBOTS; SIGNAL PROCESSING;

FOURIER SERIES;

EID: 83755219988     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364911421511     Document Type: Article

References (65)

1. An C, Atkeson C, Hollerbach J Model-based Control of A Robot Manipulator. Cambridge, MA: The MIT Press ; 1988 :
2. BaileyA (2004) Biomimetic Control with a Feedback Coupled Nonlinear Oscillator: Insect Experiments, Design Tools, and Hexapedal Robot Adaptation Results. PhD Thesis, Stanford University.
3. Buchli J, Ijspeert A. A simple, adaptive locomotion toy-system. From Animals to Animats 8. Proceedings of the Eighth International Conference on the Simulation of Adaptive Behavior (SAB'04) ; 2004 ; 2004. 153.
4. Buchli J, Righetti L, Ijspeert AJ Advances in Artificial Life. Capcarrere MS Freitas AA Bentley PJ Johnson CG Timmis J, ed. Berlin: Springer ; 2005: 210-220.
5. Buchli J, Righetti L, Ijspeert AJ. Frequency analysis with coupled nonlinear oscillators. Physica D: Nonlinear Phenomena. 2008 ; 237: 1705-1718
6. BuehlerMKoditschekDKindlmannP (1994) Planning and control of robotic juggling and catching tasks. The International Journal of Robotics Research13: 101-118. http://ijr.sagepub.com/content/13/2/101.abstract.
7. Cafuta P, Curk B. Control of nonholonomic robotic load. 10th IEEE International Workshop on Advanced Motion Control, 2008. AMC '08 ; 2008 ; 2008. 631.
8. Calinon S, Guenter F, Billard A. On learning, representing, and generalizing a task in a humanoid robot. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics. 2007 ; 37: 286-298 (Pubitemid 46523219)
9. Castellini C, van der Smagt P. Surface EMG in advanced hand prosthetics. Biological Cybernetics. 2009 ; 100: 35-47
10. Filho ACdP, Dutra MS, Raptopoulos LSC. Modeling of a bipedal robot using mutually coupled rayleigh oscillators. Biological Cybernetics. 2005 ; 92: 1-7 (Pubitemid 40134698)
11. FukuokaYKimuraHCohenAH (2003) Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. The International Journal of Robotics Research22: 187-202. http://ijr.sagepub.com/content/22/3-4/ 187.abstract.
12. Furuta K. Control of pendulum: from super mechano-system to human adaptive mechatronics. Proceedings 42nd IEEE Conference on Decision and Control, 2003 ; 2003 ; 2003. 1498.
13. Gams A, Ijspeert AJ, Schaal S, Lenarcic J. On-line learning and modulation of periodic movements with nonlinear dynamical systems. Autonomous Robots. 2009a ; 27: 3-23
14. Gams A, Petrič T, Žlajpah L. Controlling yo-yo and gyroscopic device with nonlinear dynamic systems. 18th International Workshop on Robotics, Alpe-Adria-Danube Region ; 2009b Brasov, Romania ; 2009b..
15. Gams A, Žlajpah L, Lenarčič J. Imitating human acceleration of a gyroscopic device. Robotica. 2007 ; 25: 501-509 (Pubitemid 47131396)
16. Gangadhar G, Joseph D, Chakravarthy V. An oscillatory neuromotor model of handwriting generation. International Journal on Document Analysis and Recognition. 2007 ; 10: 69-84 (Pubitemid 350141729)
17. Haken H, Kelso JAS, Bunz H. A theoretical model of phase transitions in human hand movements. Biological Cybernetics. 1985 ; 51: 347-356 (Pubitemid 15135510)
18. Hashimoto K., Noritsugu T.. Modeling and control of robotic yo-yo with visual feedback. Proceedings 1996 IEEE International Conference on Robotics and Automation ; 1996 ; 1996. 2650.
19. HeydaPG (2002) Roller ball dynamics revisited. American Journal of Physics70: 1049-1051. http://link.aip.org/link/?AJP/70/1049/1.
20. Hollerbach JM. An oscillation theory of handwriting. Biological Cybernetics. 1981 ; 39: 139-156 (Pubitemid 11187081)
21. IjspeertAJ (2008) Central pattern generators for locomotion control in animals and robots: A review. Neural Networks21: 642-653. http://www. sciencedirect.com/science/article/B6T08-4SH6B9F-2/2/ 2e0a2fdad02d315becc218a6602f054d. (Pubitemid 351799963)
22. Ilg W, Albiez J, Jedele H, Berns K, Dillmann R. Adaptive periodic movement control for the four legged walking machine BISAM. Proceedings 1999 IEEE International Conference on Robotics and Automation ; 1999 ; 1999. 2354.
23. Inoue K, Ma S, Jin C. Neural oscillator network-based controller for meandering locomotion of snake-like robots. Proceedings 2004 IEEE International Conference on Robotics and Automation. ICRA '04 ; 2004 ; 2004. 5064.
24. Jalics L, Hemami H, Zheng Y. Pattern generation using coupled oscillators for robotic and biorobotic adaptive periodic movement. Proceedings 1997 IEEE International Conference on Robotics and Automation ; 1997 ; 1997. 179.
25. Jin H-L, Ye Q, Zacksenhouse M. Return maps, parameterization, and cycle-wise planning of yo-yo playing. Transactions on Robotics. 2009 ; 25: 438-445
26. JinH-LZackenhouseM (2002) Yoyo dynamics: Sequence of collisions captured by a restitution effect. Journal of Dynamic Systems, Measurement, and Control124: 390-397. http://link.aip.org/link/?JDS/124/390/1. (Pubitemid 40001301)
27. Jin H-L, Zacksenhouse M. Oscillatory neural networks for robotic yo-yo control. IEEE Transactions on Neural Networks. 2003 ; 14: 317-325
28. Jindai M, Watanabe T. Development of a handshake robot system based on a handshake approaching motion model. 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics ; 2007 ; 2007. 1.
29. Kasuga T, Hashimoto M. Human-robot handshaking using neural oscillators. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. ICRA 2005 ; 2005 ; 2005. 3802.
30. Kimura H, Akiyama S, Sakurama K. Realization of dynamic walking and running of the quadruped using neural oscillator. Autonomous Robots. 1999 ; 7: 247-258 (Pubitemid 30523532)
31. Kralemann B, Cimponeriu L, Rosenblum M, Pikovsky A, Mrowka R. Phase dynamics of coupled oscillators reconstructed from data. Physical Review E. 2008 ; 77: 066205
32. Kun A, Miller IWT. Adaptive dynamic balance of a biped robot using neural networks. Proceedings 1996 IEEE International Conference on Robotics and Automation ; 1996 ; 1996. 240.
33. Liu C, Chen Q, Zhang J. Coupled van der Pol oscillators utilised as central pattern generators for quadruped locomotion. Proceedings of the Chinese Control and Decision Conference, 2009. CCDC '09 ; 2009 ; 2009. 3677.
34. Matsuoka K. Sustained oscillations generated by mutually inhibiting neurons with adaptation. Biological Cybernetics. 1985 ; 52: 367-376 (Pubitemid 15244296)
35. Matsuoka K, Ohyama N, Watanabe A, Ooshima M. Control of a giant swing robot using a neural oscillator. Proceedings of ICNC. 2005 ; Vol. 2: 274-282 (Pubitemid 41449759)
36. Matsuoka K, Ooshima M. A dish-spinning robot using a neural oscillator. International Congress Series ; 2007 ; 2007. 218.
37. http://www.sciencedirect.com/science/article/B7581-4NYJD61-1W/2/ 4f97ffac6fcbc64aadcfcb70fc6ed5fc.
38. Mirollo RE, Strogatz SH. Synchronization of pulse-coupled biological oscillators. SIAM Journal of Applied Mathematics. 1990 ; 50: 1645-1662
39. Miyamoto H, Schaal S, Gandolfo F, Gomi H, Koike Y, Osu R, et al. A Kendama learning robot based on bi-directional theory. Neural Networks. 1996 ; 9: 1281-1302 (Pubitemid 26413052)
40. http://www.sciencedirect.com/science/article/B6T08-3TDPYNM-22/2/ 778443608d4a29805a6710a99e175730.
41. Morimoto J, Endo G, Nakanishi J, Cheng G. A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a coupled oscillator model. IEEE Transactions on Robotics. 2008 ; 24: 185-191 (Pubitemid 351411207)
42. Petric T, Gams A, Zlajpah L. Modeling and control strategy for robotic Powerball. 18th International Workshop on Robotics, Alpe-Adria-Danube Region ; 2009 Brasov, Romania ; 2009..
43. Petrič T, Curk B, Cafuta P, Žlajpah L. Modeling of the robotic powerball: a nonholonomic, underactuated, and variable structure-type system. Mathematical and Computer Modelling of Dynamical Systems. 2010 ;:
44. ikovskyARosenblumMKurthsJHilbornRC (2002) Synchronization: A universal concept in nonlinear science. American Journal of Physics70: 655-655. http://link.aip.org/link/?AJP/70/655/1.
45. Righetti L, Buchli J, Ijspeert AJ. Dynamic Hebbian learning in adaptive frequency oscillators. Physica D. 2006 ; 216: 269-281
46. Righetti L, Ijspeert A. Programmable central pattern generators: an application to biped locomotion control. Proceedings 2006 IEEE International Conference on Robotics and Automation. ICRA 2006 ; 2006 ; 2006. 1585.
47. Ronsse R, Lefevre P, Sepulchre R. Rhythmic feedback control of a blind planar juggler. IEEE Transactions on Robotics. 2007 ; 23: 790-802 (Pubitemid 47308116)
48. Ronsse R, Vitiello N, Lenzi T, van den Kieboom J, Carrozza M, Ijspeert A. Human-robot synchrony: flexible assistance using adaptive oscillators. IEEE Transactions on Biomedical Engineering. 2010 ; 99: 1
49. Sato T, Hashimoto M, Tsukahara M. Synchronization based control using online design of dynamics and its application to human-robot interaction. IEEE International Conference on Robotics and Biomimetics, 2007. ROBIO 2007 ; 2007 ; 2007. 652.
50. Schaal S, Atkeson C. Open loop stable control strategies for robot juggling. Proceedings 1993 IEEE International Conference on Robotics and Automation ; 1993 ; 1993. 913.
51. Schaal S, Mohajerian P, Ijspeert A. Dynamics systems vs. optimal control -a unifying view. Progress in Brain Research. 2007 ; 165: 425-445 (Pubitemid 47513886)
52. Sciavicco L, Siciliano B, Sciavicco B Modelling and Control of Robot Manipulators. 2000 ) Modelling and Control of Robot Manipulators, 2nd edn.New York: Springer-Verlag Inc. New York: Springer-Verlag Inc ; 2000:
53. Sentis L, Park J, Khatib O. Compliant control of multicontact and center-of-mass behaviors in humanoid robots. IEEE Transactions on Robotics. 2010 ; 26: 483-501
54. Spong M. The swing up control problem for the acrobot. IEEE Control Systems Magazine. 1995 ; 15: 49-55
55. Spong M, Bullo F. Controlled symmetries and passive walking. IEEE Transactions on Automatic Control. 2005 ; 50: 1025-1031 (Pubitemid 41078405)
56. Strogatz SH The Mathematical Structure of the Human Sleep-Wake Cycle. New Yok: Springer-Verlag Inc ; 1986:
57. Strogatz SH Nonlinear Dynamics and Chaos: With Applications To Physics, Biology, Chemistry, And Engineering. Perseus Books Group ; 1994:
58. Thompson SE, Patel RV. Formulation of joint trajectories for industrial robots using b-splines. IEEE Transactions on Industrial Electronics. 1987 ; 34: 192-199
59. Tsuda S, Zauner K-P, Gunji Y-P. Robot control with biological cells. Biosystems. 2007 ; 87: 215-223 (Pubitemid 46073373)
60. Ude A, Atkeson CG, Riley M. Planning of joint trajectories for humanoid robots using b-spline wavelets. Proceedings of ICRA. 2000 ;: 2223-2228
61. van der Pol B. The nonlinear theory of electric oscillations. Proceedings of the Institute of Radio Engineers. 1934 ; 22: 1051-1086
62. VeskosPDemirisY (2005) Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators. Lund University Cognitive Studies123: 87-93. http://cogprints.org/4969/.
63. Žlajpah L. Robotic yo-yo: modelling and control strategies. Robotica. 2006 ; 24: 211-220
64. Williamson M. Designing rhythmic motions using neural oscillators. Proceedings. 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '99 ; 1999 ; 1999. 494.
65. Williamson MM. Neural control of rhythmic arm movements. Neural Networks. 1998 ; 11: 1379-1394 (Pubitemid 28527132)