Multi-template approach to artificial locomotion control

Author

Arena, P. ; Fortuna, L. ; Frasca, M. ; Marchese, C.

Author_Institution

Dipt. Elettrico Elettronico e Sistemistico, Catania Univ., Italy

Volume

3

fYear

2001

fDate

6-9 May 2001

Firstpage

37

Abstract

In this paper a new approach, the so called Multi-Template Approach (MTA), to implement the Central Pattern Generator (CPG) for locomotion control in Cellular Neural Networks (CNNs) is presented. From a biological point of view an approximated chemical synapse is realized and implemented in a CNN structure. This allows one to extend the results previously obtained with a Reaction-Diffusion (RD) CNN for locomotion control in an insect-like prototype robot to a more general class of artificial CPGs in which the desired locomotion pattern and the switching among patterns is realized by means of a spatiotemporal algorithm implemented in the same CNN structure

Keywords

cellular neural nets; legged locomotion; motion control; neurocontrollers; approximated chemical synapse; artificial locomotion control; cellular neural networks; central pattern generator; insect-like prototype robot; locomotion pattern; multi-template approach; spatiotemporal algorithm; Actuators; Animal structures; Cellular neural networks; Centralized control; Chemicals; Leg; Legged locomotion; Neurons; Prototypes; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 2001. ISCAS 2001. The 2001 IEEE International Symposium on

Conference_Location

Sydney, NSW

Print_ISBN

0-7803-6685-9

Type

conf

DOI

10.1109/ISCAS.2001.921240

Filename

921240