English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Synchronization of coupled non-linear oscillators inspired by a central pattern generator (CPG) can control the bionic robot and promote the coordination and diversity of locomotion. However, for a robot with a strong mutual coupled structure, such neurobiological control is still missing. In this contribution, we present a σ-Hopf harmonic oscillator with decoupled parameters to expand the solution space of the locomotion of the robot. Unlike the synchronization of original Hopf oscillators, which has been fully discussed, the asymmetric factor of σ-Hopf oscillator causes a deformation in oscillation waveform. Using the non-linear synchronization theory, we construct the transition state model of the synchronization process to analyze the asymmetrical distortion, period change and duty ratio inconsistency. Then a variable coupling strength is introduced to eliminate the waveform deformation and maintain the fast convergence rate. Finally, the approach is used for the locomotion control of a bionic parallel waist of legged robot, which is a highly coupled system. The effectiveness of the approach in both independent and synthesis behavior of four typical motion patterns are validated. The result proves the importance of controllability of the oscillation waveform and the instantaneous state of the synchronization, which benefits the transition and transformation of the locomotion and makes the coupling motion more flexible.

Synchronization of Non-linear Oscillators for Neurobiologically Inspired Control on a Bionic Parallel Waist of Legged Robot