Modular reactive neurocontrol for biologically inspired walking machines
Modular reactive neurocontrol for biologically inspired walking machines
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DOI：
10.1177/0278364906076263
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发表时间：
2007-03-01
影响因子：
9.2
通讯作者：
Roth, Hubert
中科院分区：
文献类型：
--
作者：
Manoonpong, Poramate;Pasemann, Frank;Roth, Hubert
描述了一种神经控制器，它生成基本运动并控制四足和六足步行机的传感器驱动行为。该控制器采用离散时间神经动力学，具有模块化结构。一个模块用于处理传感器信号，一个是充当中央模式生成器的神经振荡器网络，第三个是所谓的速度调节网络。这些模块很小，并且它们的结构和功能是可分析的。结合起来，它们使机器能够自主探索未知环境，避开障碍物，并逃离角落或僵局情况。首先使用物理模拟环境开发和测试神经控制器，然后将其成功转移到物理步行机上。运动基于对角腿配对并一起移动的步态，例如四足步行机采用小跑步态，六足步行机采用三脚架步态。所开发的控制器具有通用性，可以在不改变内部结构及其参数的情况下轻松适应不同类型的等腿步行机。
A neurocontroller is described which generates the basic locomotion and controls the sensor-driven behavior of a four-legged and a six-legged walking machine. The controller utilizes discrete-time neuro-dynamics, and is of modular structure. One module is for 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 small and their structures and their functionalities 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 tested first 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 gait for 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.