A systematic approach to parameter design for a coupled oscillator controller

Abstract

This paper presents a systematic approach to designing a coupled oscillator controller, a control mechanism used successfully in nature. With this approach, a less conservative behavior-based robot controller with guaranteed performance can be automatically developed. This makes it possible to design a controller with good performance automatically, without the tuning of parameters. More importantly, it provides for a flexible and safe way of learning. Experimental and simulation results illustrate the validity of the method.