...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Control Systems Magazine >Analog cellular locomotion control of hexapod robots
【24h】

Analog cellular locomotion control of hexapod robots

机译：六足机器人的模拟细胞运动控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This article discusses analog neural processing structures for artificial locomotion in mechatronic devices. The main inspiration comes from the biological paradigm of the central pattern generator, used to model the neural populations responsible for locomotion planning and control in animals. We start by considering locomotion by legs as a complex spatiotemporal, nonlinear dynamic system, modeled referring to particular types of reaction-diffusion nonlinear partial differential equations. Spatiotemporal phenomena are then obtained by implementing the whole mathematical model on a new reaction-diffusion cellular neural network (CNN) architecture. Wavelike solutions as well as patterns are obtained and are able to induce and control locomotion in some prototypes of biologically inspired walking machines. The CNN structure is subsequently designed using analog circuits; this makes it possible to generate locomotion in real time and also to control transition between several types of locomotion. The methodology presented is applied to the experimental prototype of a hexapod robot.
机译：本文讨论了机电设备中用于人工运动的模拟神经处理结构。主要灵感来自中央模式生成器的生物学范例，该模式用于对负责动物运动计划和控制的神经种群进行建模。我们首先将腿部运动视为一个复杂的时空非​​线性动力学系统，该模型是针对特定类型的反应扩散非线性偏微分方程建模的。然后通过在新的反应扩散细胞神经网络（CNN）体系结构上实现整个数学模型来获得时空现象。获得了类似波浪的解决方案以及模式，并且能够在一些受生物启发的步行机原型中诱发和控制运动。随后使用模拟电路设计CNN结构。这样就可以实时生成运动，还可以控制几种运动之间的转换。提出的方法应用于六脚机器人的实验原型。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号