An autonomous mini-hexapod robot controlled through a CNN-based CPG VLSI chip

Author

Arena, P. ; Fortuna, L. ; Frasca, M. ; Patane, L. ; Pollino, M.

Author_Institution

Dipt. di Ingegneria Elettrica, Elettronica e dei Sistemi, Univ. degli Studi di Catania

fYear

2006

fDate

28-30 Aug. 2006

Firstpage

1

Lastpage

6

Abstract

This paper deals with the application of a VLSI chip for locomotion control of a mini-hexapod robot. The chip that implements a CPG through a CNN-based structure, has been already used in different bio-inspired structures. The aim of this work is to show the realization of a completely autonomous mini-legged robot by means of the VLSI device. Moreover the chip permits the integration of exteroceptive sensors that can be used to close the feedback loop with the environment implementing simple navigation control strategies. Experimental results obtained in different environmental conditions are reported and discussed

Keywords

VLSI; cellular neural nets; feedback; legged locomotion; navigation; robots; VLSI chip; autonomous minihexapod robot control; autonomous minilegged robot; cellular neural network; central pattern generator; feedback loop; locomotion control; navigation control; Cellular neural networks; Kinematics; Leg; Legged locomotion; Mobile robots; Open loop systems; Robot control; Robot sensing systems; Springs; Very large scale integration;

fLanguage

English

Publisher

ieee

Conference_Titel

Cellular Neural Networks and Their Applications, 2006. CNNA '06. 10th International Workshop on

Conference_Location

Istanbul

Print_ISBN

1-4244-0639-0

Electronic_ISBN

1-4244-0640-4

Type

conf

DOI

10.1109/CNNA.2006.341649

Filename

4145889