Showing papers by "Jonas Buchli published in 2004"
TL;DR: A distributed Central Pattern Generator model based on amplitude controlled phase oscillators is presented and results of numerical integration of the CPG model are presented to illustrate its excellent properties in terms of transition speeds, robustness and independence on initial conditions.
Abstract: A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. Representative results of numerical integration of the CPG model are presented to illustrate its excellent properties in terms of transition speeds, robustness and independence on initial conditions. A particularly interesting feature of the CPG is the possibility to switch between different stable gaits by varying a single parameter. These characteristics make the CPG model an interesting solution for the decentralized control of multi-legged robots. The approach is discussed in the more general framework of coupled nonlinear systems, and design tools for nonlinear distributed control schemes applicable to Information Technology and Robotics.
62 citations
01 Jan 2004
TL;DR: This paper aims to demonstrate the efforts towards in-situ applicability of EMMARM, as to provide real-time information about concrete mechanical properties such as E-modulus and compressive strength in the response of the immune system to shocks.
Abstract: Note: For more details see Jonas Buchli: Master Thesis (buchli03) Reference BIOROB-CONF-2004-007 Record created on 2005-11-03, modified on 2017-05-10
3 citations