Dynamic analysis of a novel artificial neural oscillator

Abstract

This paper proposes a novel artificial neural oscillator consisted of two neurons with excellent control properties. The mutual connections between the neurons are just linear functions and determine the oscillation angular frequency. And each neuron has a nonlinear selffeedback connection to hold up oscillation amplitude. The dynamics of the neural oscillator was modelled with nonlinear coupling functions. And the stability, amplitude, angular frequency of the oscillator are determined independently by three parameters of the functions. Since it has simple structure and favorable control advantages, it can be used in bionic robot's locomotion control system. The first application is an artificial central pattern generator (CPG) controller for bionic robot's joint. The second is a bionic neural network for fish-robot's locomotion control. © Springer-Verlag Berlin Heidelberg 2007.