Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion

Luis A Fuente; Michael Adam Lones; Nigel Crook; Tjeerd Olde Scheper

doi:10.1007/978-3-319-23108-2_10

Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion

Luis A Fuente, Michael Adam Lones, Nigel Crook, Tjeerd Olde Scheper

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The behavioural diversity of chaotic oscillator can be controlled into periodic dynamics and used to model locomotion using central pattern generators. This paper shows how controlled chaotic oscillators may improve the adaptation of the robot locomotion behaviour to terrain uncertainties when compared to nonlinear harmonic oscillators. This is quantitatively assesses by the stability, changes of direction and steadiness of the robotic movements. Our results show that the controlled Wu oscillator promotes the emergence of adaptive locomotion when deterministic sensory feedback is used. They also suggest that the chaotic nature of chaos controlled oscillators increases the expressiveness of pattern generators to explore new locomotion gaits.

Original language	English
Title of host publication	Information Processing in Cells and Tissues
Subtitle of host publication	10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings
Publisher	Springer International Publishing
Pages	114-127
Number of pages	14
Volume	9303
ISBN (Electronic)	9783319231082
ISBN (Print)	9783319231075
DOIs	https://doi.org/10.1007/978-3-319-23108-2_10
Publication status	Published - Sep 2015
Event	10th International Conference - California, San Diego, United States Duration: 14 Sep 2015 → 16 Sep 2015

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer International Publishing
Volume	9303
ISSN (Print)	0302-9743

Conference

Conference	10th International Conference
Abbreviated title	IPCAT 2015
Country	United States
City	San Diego
Period	14/09/15 → 16/09/15
Other	Information Processing in Cells and Tissues

ASJC Scopus subject areas

Computer Science(all)
Theoretical Computer Science

Access to Document

10.1007/978-3-319-23108-2_10

Link to publication in Scopus

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Fuente, L. A., Lones, M. A., Crook, N., & Olde Scheper, T. (2015). Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion. In Information Processing in Cells and Tissues: 10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings (Vol. 9303, pp. 114-127). (Lecture Notes in Computer Science; Vol. 9303). Springer International Publishing. https://doi.org/10.1007/978-3-319-23108-2_10

Fuente, Luis A ; Lones, Michael Adam ; Crook, Nigel ; Olde Scheper, Tjeerd. / Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion. Information Processing in Cells and Tissues: 10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings. Vol. 9303 Springer International Publishing, 2015. pp. 114-127 (Lecture Notes in Computer Science).

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title = "Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion",

abstract = "The behavioural diversity of chaotic oscillator can be controlled into periodic dynamics and used to model locomotion using central pattern generators. This paper shows how controlled chaotic oscillators may improve the adaptation of the robot locomotion behaviour to terrain uncertainties when compared to nonlinear harmonic oscillators. This is quantitatively assesses by the stability, changes of direction and steadiness of the robotic movements. Our results show that the controlled Wu oscillator promotes the emergence of adaptive locomotion when deterministic sensory feedback is used. They also suggest that the chaotic nature of chaos controlled oscillators increases the expressiveness of pattern generators to explore new locomotion gaits.",

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Fuente, LA, Lones, MA, Crook, N & Olde Scheper, T 2015, Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion. in Information Processing in Cells and Tissues: 10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings. vol. 9303, Lecture Notes in Computer Science, vol. 9303, Springer International Publishing, pp. 114-127, 10th International Conference, San Diego, United States, 14/09/15. https://doi.org/10.1007/978-3-319-23108-2_10

Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion. / Fuente, Luis A; Lones, Michael Adam; Crook, Nigel; Olde Scheper, Tjeerd.

Information Processing in Cells and Tissues: 10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings. Vol. 9303 Springer International Publishing, 2015. p. 114-127 (Lecture Notes in Computer Science; Vol. 9303).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - The behavioural diversity of chaotic oscillator can be controlled into periodic dynamics and used to model locomotion using central pattern generators. This paper shows how controlled chaotic oscillators may improve the adaptation of the robot locomotion behaviour to terrain uncertainties when compared to nonlinear harmonic oscillators. This is quantitatively assesses by the stability, changes of direction and steadiness of the robotic movements. Our results show that the controlled Wu oscillator promotes the emergence of adaptive locomotion when deterministic sensory feedback is used. They also suggest that the chaotic nature of chaos controlled oscillators increases the expressiveness of pattern generators to explore new locomotion gaits.

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Fuente LA, Lones MA, Crook N, Olde Scheper T. Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion. In Information Processing in Cells and Tissues: 10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings. Vol. 9303. Springer International Publishing. 2015. p. 114-127. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-319-23108-2_10