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Paper Abstract and Keywords
Presentation 2013-07-11 13:20
Basic Experimental Study on SMA Actuators Driven by a Hardware CPG
Tomoyasu Ichimura, Naoki Ejima, Syunya Imaizumi (Oyama NCT), Yoshinobu Maeda (Niigata Univ.) CAS2013-10 VLD2013-20 SIP2013-40 MSS2013-10
Abstract (in Japanese) (See Japanese page) 
(in English) A central pattern generator (CPG) is a half-center rhythm generator, which is constructed from neural networks of the mammalian spinal cord. The CPG generates rhythmic locomotion. Thus, it can transmit alternating rhythmic activity of extensor and flexor sites, in the absence of external rhythmic input. This mechanism contributes to generate involuntary walking patterns of the mammalian. Rybak et al. have proposed mathematical networks of the CPG composed of Hodgkin-Huxley type differential equations. Maeda et al. have constructed a hardware CPG based on Rybak's mathematical networks. Furthermore, they have controlled a legged locomotion robot by their hardware CPG. In order to make a biologically inspired robot, we are planning to employ shape memory alloy (SMA) actuators for the robot with the hardware CPG. This paper describes basic experimental study on SMA actuators driven by the hardware CPG.
Keyword (in Japanese) (See Japanese page) 
(in English) hardware CPG / SMA actuator / legged locomotion robot / / / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 118, CAS2013-10, pp. 55-58, July 2013.
Paper # CAS2013-10 
Date of Issue 2013-07-04 (CAS, VLD, SIP, MSS) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CAS2013-10 VLD2013-20 SIP2013-40 MSS2013-10

Conference Information
Committee SIP CAS MSS VLD  
Conference Date 2013-07-11 - 2013-07-12 
Place (in Japanese) (See Japanese page) 
Place (in English) Kumamoto Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) System, signal processing and related topics 
Paper Information
Registration To CAS 
Conference Code 2013-07-SIP-CAS-MSS-VLD 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Basic Experimental Study on SMA Actuators Driven by a Hardware CPG 
Sub Title (in English)  
Keyword(1) hardware CPG  
Keyword(2) SMA actuator  
Keyword(3) legged locomotion robot  
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1st Author's Name Tomoyasu Ichimura  
1st Author's Affiliation Oyama National College of Technology (Oyama NCT)
2nd Author's Name Naoki Ejima  
2nd Author's Affiliation Oyama National College of Technology (Oyama NCT)
3rd Author's Name Syunya Imaizumi  
3rd Author's Affiliation Oyama National College of Technology (Oyama NCT)
4th Author's Name Yoshinobu Maeda  
4th Author's Affiliation Niigata University (Niigata Univ.)
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Speaker Author-2 
Date Time 2013-07-11 13:20:00 
Presentation Time 20 minutes 
Registration for CAS 
Paper # CAS2013-10, VLD2013-20, SIP2013-40, MSS2013-10 
Volume (vol) vol.113 
Number (no) no.118(CAS), no.119(VLD), no.120(SIP), no.121(MSS) 
Page pp.55-58 
#Pages 4 
Date of Issue 2013-07-04 (CAS, VLD, SIP, MSS) 

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