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

1 Citation (Scopus)

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
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 - Sept 2015
Event	10th International Conference - California, San Diego, United States Duration: 14 Sept 2015 → 16 Sept 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/Territory	United States
City	San Diego
Period	14/09/15 → 16/09/15
Other	Information Processing in Cells and Tissues

ASJC Scopus subject areas

General Computer Science
Theoretical Computer Science

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

Cite this

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. https://doi.org/10.1007/978-3-319-23108-2_10

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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.",

author = "Fuente, {Luis A} and Lones, {Michael Adam} and Nigel Crook and {Olde Scheper}, Tjeerd",

year = "2015",

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language = "English",

isbn = "9783319231075",

volume = "9303",

series = "Lecture Notes in Computer Science",

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pages = "114--127",

booktitle = "Information Processing in Cells and Tissues",

note = "10th International Conference, IPCAT 2015 ; Conference date: 14-09-2015 Through 16-09-2015",

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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, 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 et al.
Information Processing in Cells and Tissues: 10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings. Vol. 9303 Springer, 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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T1 - Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion

AU - Fuente, Luis A

AU - Lones, Michael Adam

AU - Crook, Nigel

AU - Olde Scheper, Tjeerd

PY - 2015/9

Y1 - 2015/9

N2 - 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.

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

M3 - Conference contribution

SN - 9783319231075

VL - 9303

T3 - Lecture Notes in Computer Science

SP - 114

EP - 127

BT - Information Processing in Cells and Tissues

PB - Springer

T2 - 10th International Conference

Y2 - 14 September 2015 through 16 September 2015

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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. 2015. p. 114-127. (Lecture Notes in Computer Science). doi: 10.1007/978-3-319-23108-2_10

Harmonic versus Chaos Controlled Oscillators in Hexapedal Locomotion

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