Periodic movement learning in a soft-robotic arm
Paris Oikonomou,Mehdi Khamassi,Costas S. Tzafestas,Paris Oikonomou,Mehdi Khamassi,Costas S. Tzafestas
In this paper we introduce a novel technique that aims to dynamically control a modular bio-inspired soft-robotic arm in order to perform cyclic rhythmic patterns. Oscillatory signals are produced at the actuator's level by a central pattern generator (CPG), resulting in the generation of a periodic motion by the robot's end-effector. The proposed controller is based on a model-free neurodynamic s...
