Biomimetics Micro Robot with Active Hardware Neural Networks Locomotion Control and Insect-Like Switching Behaviour
Biomimetics Micro Robot with Active Hardware Neural Networks Locomotion Control and Insect-Like Switching Behaviour
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DOI：
10.5772/54129
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发表时间：
2012-11-30
影响因子：
2.3
通讯作者：
Uchikoba, Fumio
中科院分区：
文献类型：
--
作者：
Saito, Ken;Takato, Minami;Uchikoba, Fumio
本文以昆虫为原型，设计了宽、长、高分别为4.0、2.7、2.5mm的仿生微型机器人系统。微机器人系统是由微机电系统（MEMS）技术制造的硅晶片制成的。机器人的机械系统配备了小型旋转式驱动器，连杆机构和六条腿，以实现昆虫般的切换行为。此外，我们还利用模拟CMOS电路构建了主动硬件神经网络（HNN）作为运动控制系统。HNN利用脉冲型硬件神经元模型（P-HNM）作为基本组件。HNN利用生物神经网络等同步现象输出驱动脉冲。驱动脉冲可以直接驱动仿生微机器人的驱动器。因此，HNN实现了机器人控制，而不使用任何软件程序或A/D转换器。该机器人采用旋转式驱动器、连杆机构和HNN神经网络模拟昆虫的运动方式和神经网络。微机器人执行向前和向后运动，并通过输入外部触发脉冲改变方向。当步宽为0.88mm时，运动速度为26.4mm/min。
In this paper, we presented the 4.0, 2.7, 2.5 mm, width, length, height size biomimetics micro robot system which was inspired by insects. The micro robot system was made from silicon wafer fabricated by micro electro mechanical systems (MEMS) technology. The mechanical system of the robot was equipped with small size rotary type actuators, link mechanisms and six legs to realize the insect-like switching behaviour. In addition, we constructed the active hardware neural networks (HNN) by analogue CMOS circuits as a locomotion controlling system. The HNN utilized the pulse-type hardware neuron model (P-HNM) as a basic component. The HNN outputs the driving pulses using synchronization phenomena such as biological neural networks. The driving pulses can operate the actuators of the biomimetics micro robot directly. Therefore, the HNN realized the robot control without using any software programs or A/D converters. The micro robot emulated the locomotion method and the neural networks of an insect with rotary type actuators, link mechanisms and HNN. The micro robot performed forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was 26.4 mm/min when the step width was 0.88 mm.