This paper presents a bio-inspired approach for generating online rhythmic point-to-point motions commonly used by industrial robots. Rhythmic motions in biological systems are produced with neural circuits called central pattern generators (CPGs). A modified form of CPG network is designed and used to generate the rhythmic motion. A pick and place task is considered an industrial application of the proposed approach. Several pick and place applications are considered. It is demonstrated that with CPGs, online changes of rhythmic trajectories are successfully generated. The proposed approach is novel, enables online trajectory generation, improves machine life and yields excellent coordinated natural motion for the robotic systems.
AoiS.TsuchiyaK. (2011). Generation of bipedal walking through interactions among the robot dynamics, the oscillator dynamics, and the environment: Stability characteristics of a five-link planar biped robot. Autonomous Robots, 30(2), 123–141.
2.
BiagiottiL.MelchiorriC. (2008). Trajectory planning for automatic machines and robots. Berlin: Springer.
3.
BuchliJ.RighettiL.IjspeertA. J. (2006). Engineering entrainment and adaptation in limit cycle systems: From biological inspiration to applications in robotics. Biological Cybernetics, 95(6), 645–664.
4.
ChettibiT. (2006). Synthesis of dynamic motions for robotic manipulators with geometric path constraints. Mechatronics, 16(9), 547–563.
5.
CraigJ. J. (2005). Introduction to robotics mechanics and control. New York: Pearson Prentice Hall.
6.
CrespiA.IjspeertA. J. (2008). Online optimization of swimming and crawling in an amphibious snake robot. IEEE Transactions on Robotics, 24(1), 75–87.
7.
DelcomynF. (1980). Neural basis for rhythmic behaviour in animals. Science, 210: 492–498.
8.
EndoG.MorimotoJ.MatsubaraT.NakanishiJ.ChengG. (2008). Learning CPG-based biped locomotion with a policy gradient method: Application to a humanoid robot. International Journal of Robotics Research, 27(2), 213–228.
9.
GamsA.IjspeertA. J.SchaalS.LenarčičJ. (2009). On-line learning and modulation of periodic movements with nonlinear dynamical systems. Autonomous Robots, 27: 3–23.
10.
GasparettoA.ZanottoV. (2008). A technique for time-jerk optimal planning of robot trajectories. Robotics and Computer-Integrated Manufacturing, 24, 415–426.
11.
GrillnerS.DeliaginaT.El ManiraA.HillR. H.OrlovskyG. N.WallénP. (1995). Neural networks that co-ordinate locomotion and body orientation in lamprey. Trends in Neurosciences, 18(6), 270–279.
12.
HasanzadehS.Akbarzadeh TootoonchiA. (2010). Ground adaptive and optimized locomotion of snake robot moving with a novel gait. Autonomous Robotics, 28(4), 457–470.
13.
HasanzadehS.TootoonchiA. A. (2008). Adaptive optimal locomotion of snake robot based on CPG-network using fuzzy logic tuner. 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM.
14.
IjspeertA. J. (2000). A neuromechanical investigation of salamander locomotion. Proceedings of International Symposium on Adaptive Motion of Animals and Machines (AMAM2000), Montreal.
15.
IjspeertA. J. (2001). A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biological Cybernetics, 84(5), 331–348.
16.
IjspeertA. J. (2008). Central pattern generators for locomotion control in animals and robots: A review. Neural Networks, 21(4), 642–653.
17.
IjspeertA. J.CrespiA. (2007). Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model. Proceedings – IEEE International Conference on Robotics and Automation.
18.
IjspeertA. J.CrespiA.RyczkoD.CabelguenJ.-M. (2007). From swimming to walking with a salamander robot driven by a spinal cord model. Science, 315, 1416–1420.
19.
JaradatM. A. K.GaribehM. H.FeilatE. A. (2012). Autonomous mobile robot dynamic motion planning using hybrid fuzzy potential field. Soft Computing16(1), 153–164.
20.
KhatibO. (1986). Real-time obstacle avoidance for manipulators and mobile robots. International Journal of Robotics Research, 5(1), 90–98.
21.
KorayemM. H.AzimiradV.Tabibian B.Abolhasani M. (2010). Analysis and experimental study of non-holonomic mobile manipulator in presence of obstacles for moving boundary condition. Acta Astronautica, 67(7–8), 659–672.
22.
LichtS.PolidoroV.FloresM.HoverF. S.TriantafyllouM. S. (2004). Design and projected performance of a flapping foil AUV. IEEE Journal of Oceanic Engineering, 29(3), 786–794.
23.
Moreno-ValenzuelaJ. (2006). Time-scaling of trajectories for point-to-point robotic tasks. ISA Transactions, 45(3), 407–418.
24.
NikoobinA.MoradiM. (2011). Optimal balancing of robot manipulators in point-to-point motion. Robotica, 29(2), 233–244.
25.
OrJ. (2010). A hybrid CPG-ZMP control system for stable walking of a simulated flexible spine humanoid robot. Neural Networks, 23(3), 452–460.
26.
OrlovskyG. N.DeliaginaT.GrillnerS. (1999). Neuronal control of locomotion: From mollusc to man. Oxford: Oxford University Press.
27.
ParkD. H.HoffmannH.PastorP.SchaalS. (2008). Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields. 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids.
28.
PikovskyA.RosenblumM.KurthsJ. (2001). Synchronization: A universal concept in nonlinear sciences. Cambridge: Cambridge University Press.
29.
RighettiL.IjspeertA. (2006). Programmable central pattern generators: an application to biped locomotion control. Proceedings of the 2006 IEEE International Conference on Robotics and Automation.
30.
SeoK.ChungS.-J.SlotineJ.-J. E. (2010). CPG-based control of a turtle-like underwater vehicle. Autonomous Robots, 28(3), 247–269
31.
YueS.HenrichD.XuW. L. (2002). Point-to-point trajectory planning of flexible redundant robot manipulators using genetic algorithms. Robotica, 20(3), 269–280.
32.
ZhangD.HuD.ShenL.XieH. (2008). Design of an artificial bionic neural network to control fish-robot’s locomotion. Neurocomputing, 71(4–6), 648–654.
33.
ZhaoF.XuX.XieS. Q. (2009). Computer-aided inspection planning – The state of the art. Computers in Industry, 60(7), 453–466.
34.
ZhaoW.YuJ.FangY.WangL. (2006). Development of multi-mode biomimetic robotic fish based on central pattern generator. Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing.
