Gait pattern changing of quadruped robot using pulse-type hardware neural networks

This paper studied about gait pattern changing of the constructed quadruped robot system using pulse-type hardware neural networks (P-HNN). We constructed the 20 cm in size prototype quadruped robot system. Quadruped robot system consisted of mechanical components and electrical components. The mech...

Full description

Saved in:
Bibliographic Details
Published in:Artificial life and robotics 2017-03, Vol.22 (1), p.102-107
Main Authors: Tanaka, Daisuke, Nagashima, Daichi, Hidaka, Tomohiro, Takato, Minami, Uchikoba, Fumio, Saito, Ken
Format: Article
Language:English
Subjects:
Analog circuits
Artificial Intelligence
Batteries
Computation by Abstract Devices
Computer Science
Control
Converters
Electric components
Electric power supplies
Gait
Hardware
Locomotion
Mechanical components
Mechatronics
Neural networks
Original Article
Power supply circuits
Robot dynamics
Robotics
Robots
Servomotors
Software
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper studied about gait pattern changing of the constructed quadruped robot system using pulse-type hardware neural networks (P-HNN). We constructed the 20 cm in size prototype quadruped robot system. Quadruped robot system consisted of mechanical components and electrical components. The mechanical components consisted of four legs, body frames and four servo motors. Quadruped animal-like locomotion could realize by only four servo motors using link mechanisms to each leg. The electrical components consisted of P-HNN, power supply circuit, control board and battery. P-HNN was constructed by analog discrete circuits which could mount on top of the quadruped robot. As a result, constructed P-HNN could output the locomotion rhythms which were necessary to generate the gait pattern of the quadruped robot. P-HNN could output the locomotion rhythms without using software programs or analog digital converter. In addition, P-HNN could change the locomotion rhythms by inputting the trigger pulse to the P-HNN. Our constructed quadruped robot system could perform the locomotion without using external devices.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-016-0327-0