| Presentation | 2013-07-11 Basic Experimental Study on SMA Actuators Driven by a Hardware CPG Tomoyasu ICHIMURA, Naoki EJIMA, Syunya IMAIZUMI, Yoshinobu MAEDA, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | A central pattern generator (CPG) is a half-center rhythm generator, which is constructed from neural networks of the mammalian spinal cord. The CPG generates rhythmic locomotion. Thus, it can transmit alternating rhythmic activity of extensor and flexor sites, in the absence of external rhythmic input. This mechanism contributes to generate involuntary walking patterns of the mammalian. Rybak et al. have proposed mathematical networks of the CPG composed of Hodgkin-Huxley type differential equations. Maeda et al. have constructed a hardware CPG based on Rybak's mathematical networks. Furthermore, they have controlled a legged locomotion robot by their hardware CPG. In order to make a biologically inspired robot, we are planning to employ shape memory alloy (SMA) actuators for the robot with the hardware CPG. This paper describes basic experimental study on SMA actuators driven by the hardware CPG. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | hardware CPG / SMA actuator / legged locomotion robot |
| Paper # | CAS2013-10,VLD2013-20,SIP2013-40,MSS2013-10 |
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| Conference Information | |
| Committee | MSS |
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| Conference Date | 2013/7/4(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Mathematical Systems Science and its applications(MSS) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Basic Experimental Study on SMA Actuators Driven by a Hardware CPG |
| Sub Title (in English) | |
| Keyword(1) | hardware CPG |
| Keyword(2) | SMA actuator |
| Keyword(3) | legged locomotion robot |
| 1st Author's Name | Tomoyasu ICHIMURA |
| 1st Author's Affiliation | Department of Electronic Control Engineering, Oyama National College of Technology() |
| 2nd Author's Name | Naoki EJIMA |
| 2nd Author's Affiliation | Department of Electronic Control Engineering, Oyama National College of Technology |
| 3rd Author's Name | Syunya IMAIZUMI |
| 3rd Author's Affiliation | Department of Electronic Control Engineering, Oyama National College of Technology |
| 4th Author's Name | Yoshinobu MAEDA |
| 4th Author's Affiliation | Graduate School of Science and Technology, Niigata University |
| Date | 2013-07-11 |
| Paper # | CAS2013-10,VLD2013-20,SIP2013-40,MSS2013-10 |
| Volume (vol) | vol.113 |
| Number (no) | 121 |
| Page | pp.pp.- |
| #Pages | 4 |
| Date of Issue | |