Modular Reactive Neurocontrol For Biologically Inspired Walking Machines  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 26 no. 3 (Mar. 2007), page 301-331.
Topik: autonomous robots; walking machines; recurrent neural networks; neural control; reactive behavior
Fulltext: 301.pdf (7.9MB)

Isi artikel

A neurocontroller is described which generates the basic locomotion and controls the sensor-driven behavior of a four-legged and a sixlegged walking machine. The controller utilizes discrete-time neurodynamics, and is ofmodular structure. One module isfor processing sensor signals, one is a neural oscillator network serving as a central pattern generator, and the third one is a so-called velocity regulating network. These modules are smnll and their structures and theirfunctionalities are analyzable. In combination, they enable the machines to autonomously explore an unknown environment, to avoid obstacles, and to escape from corners or deadlock situations. The neurocontroller was developed and testedfirst using a physical simulation environment, and then it was successfully transferred to the physical walking machines. Locomotion is based on a gait where the diagonal legs are paired and move together, e.g. trot gait for the four-legged walking machine and tripod gaitfor the six-legged walking machine. The controller developed is universal in the sense that it can easily be adapted to different types of even-legged walking machines without changing the internal structure and its parameters.

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