DocumentCode
1805207
Title
A cellular nonlinear approach to decentralized locomotion control of the stick insect
Author
Arena, Paolo ; Cruse, Holk ; Fortuna, Luigi ; Frasca, Mattia ; Patane, Luca
Author_Institution
Dipt. Elettrico Elettronico e Sistemistico, Universita degli Studi di Catania, Italy
Volume
4
fYear
2002
fDate
2002
Abstract
In this paper a new approach to decentralized locomotion control of bio-inspired hexapod robots is presented. This approach is inspired by the model of decentralized locomotion control in the stick insect introduced by Cruse, where local influences, based on the leg status, revealed by contact sensors, coordinate the leg controllers. Second order nonlinear systems are used to realize the neuron-like dynamics of the leg controllers. The suitability of the approach has been shown by using cellular nonlinear networks to implement the leg controllers.
Keywords
cellular neural nets; decentralised control; legged locomotion; neurocontrollers; bio-inspired hexapod robots; cellular nonlinear approach; contact sensors; decentralized locomotion control; leg status; neuron-like dynamics; stick insect; Biological control systems; Biological system modeling; Cells (biology); Control systems; Insects; Leg; Neurons; Nonlinear control systems; Nonlinear systems; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Circuits and Systems, 2002. ISCAS 2002. IEEE International Symposium on
Print_ISBN
0-7803-7448-7
Type
conf
DOI
10.1109/ISCAS.2002.1010415
Filename
1010415
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