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| Presentation | 2010-03-10 14:35 Effects of environmental dynamics and observational uncertainty on CPG-based sensory feedback control. Shinji Kimura, Mayumi Haga (NAIST/OIST), Eiji Uchibe (OIST), Junichiro Yoshimoto, Kenji Doya (NAIST/OIST)  NC2009-125 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Central pattern generators (CPG) are a popular method for the control of rhythmic locomotion in robots. The advantage is that CPG can integrate multimodal feedbacks provided by touch sensors, joint-angle sensors, etc., and generate robust and diverse rhythms that are suitable for locomotion in dynamic environments. However, the design of sensory feedback is entrusted to human designers and there are no comprehensive studies that investigate the effects of environmental dynamics and observational uncertainty on locomotion control using CPGs with sensory feedback. In this study, we investigate how environmental dynamics and observational uncertainty affect the quality of CPG-based sensory-feedback control by systematic simulation, and speculate on guidelines for CPG-based locomotion controller. |
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| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | central pattern generator / sensory feedback / oscillator / noise and delay in sensory system / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 109, no. 461, NC2009-125, pp. 219-224, March 2010. | |
| Paper # | NC2009-125 | |
| Date of Issue | 2010-03-02 (NC) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | NC2009-125 |
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| Conference Information | |
| Committee | NC MBE |
| Conference Date | 2010-03-09 - 2010-03-11 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tamagawa University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | General |
| Paper Information | |
| Registration To | NC |
| Conference Code | 2010-03-NC-MBE |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Effects of environmental dynamics and observational uncertainty on CPG-based sensory feedback control. |
| Sub Title (in English) | |
| Keyword(1) | central pattern generator |
| Keyword(2) | sensory feedback |
| Keyword(3) | oscillator |
| Keyword(4) | noise and delay in sensory system |
| Keyword(5) | |
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| 1st Author's Name | Shinji Kimura |
| 1st Author's Affiliation | Nara Institute of Science and Technology/Okinawa Institute of Science and Technology (NAIST/OIST) |
| 2nd Author's Name | Mayumi Haga |
| 2nd Author's Affiliation | Nara Institute of Science and Technology/Okinawa Institute of Science and Technology (NAIST/OIST) |
| 3rd Author's Name | Eiji Uchibe |
| 3rd Author's Affiliation | Okinawa Institute of Science and Technology (OIST) |
| 4th Author's Name | Junichiro Yoshimoto |
| 4th Author's Affiliation | Nara Institute of Science and Technology/Okinawa Institute of Science and Technology (NAIST/OIST) |
| 5th Author's Name | Kenji Doya |
| 5th Author's Affiliation | Nara Institute of Science and Technology/Okinawa Institute of Science and Technology (NAIST/OIST) |
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| Speaker | Author-1 |
| Date Time | 2010-03-10 14:35:00 |
| Presentation Time | 25 minutes |
| Registration for | NC |
| Paper # | NC2009-125 |
| Volume (vol) | vol.109 |
| Number (no) | no.461 |
| Page | pp.219-224 |
| #Pages | 6 |
| Date of Issue | 2010-03-02 (NC) |
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