Hexapod Type MEMS Microrobot Equipped with an Artificial Neural Networks IC
Hexapod Type MEMS Microrobot Equipped with an Artificial Neural Networks IC
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配备人工神经网络 IC 的六足型 MEMS 微型机器人
DOI：
10.2991/jrnal.2017.4.1.7
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
F. Uchikoba
中科院分区：
文献类型：
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作者：
K. Sugita;Taisuke Tanaka;Y. Nakata;M. Takato;Ken Saito;F. Uchikoba
提出了一种基于人工神经网络集成电路控制的六足微型机器人。微机器人的结构部件采用微机电系统（MEMS）工艺制造。机器人内部的旋转驱动器由形状记忆合金（SMA）材料的人工肌肉丝组成。人工神经网络集成电路包括细胞体模型、抑制性突触模型和电流镜电路。通过减小驱动器的热容量和连接驱动器的电线长度，使行走速度达到12 mm/min
This paper proposes a hexapod type microrobot controlled by an artificial neural networks IC. The structural component of the microrobot is produced by micro electro mechanical systems (MEMS) process. The rotary actuator inside the robot is composed of the artificial muscle wire of shape memory alloy (SMA) material. The artificial neural networks IC includes cell body models, inhibitory synaptic models and current mirror circuits. By reducing the heat capacity of the actuator and the length of electrical wire to the actuator, the walking speed achieved 12 mm/min