A giant swing robot using a neural oscillator

A neural oscillator model is applied to a giant swing control of an underactuated double pendulum. The oscillator receives the angle signal of the upper link and provides a relative angle of the lower link. The oscillator tunes itself to the natural dynamics of the pendulum increasing the swing amplitude, and finally the pendulum system enters the phase of giant swing. A most remarkable feature is that the transition from simple swing to giant swing can be made without changing the values of the parameters of the neural oscillator.