Task-Oriented Parameter Tuning Based on Priority Condition for Biologically Inspired Robot Application

Figure 14

The variability of the robotic arm motion without change of the parameters tuned for the circular motion: the vertical motion from (a) to (c) and the horizontal motion from (d) to (e); (a), (d) snapshots of the robotic arm; (b), (e) the trajectories of the end-effector of the robotic arm; (c), (f) each joint trajectory and the output of the arm and the neural oscillator, respectively.

(a)

(b)

(c)

(d)

(e)

(f)