Deschide documentul
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Informaţii generale |
| Autor |
Saito, Ken; Takato, Minami; Sekine, Yoshifumi; Uchikoba, Fumio |
| Publicat |
InTech Open Access Publisher, 2012
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| Abstract |
In this paper, we presented the 4.0, 2.7, 2.5 mm,
width, length, height size biomimetics micro robot system
which was inspired by insects. The micro robot system
was made from silicon wafer fabricated by micro electro
mechanical systems (MEMS) technology. The mechanical
system of the robot was equipped with small size rotary
type actuators, link mechanisms and six legs to realize the
insect‐like switching behaviour. In addition, we
constructed the active hardware neural networks (HNN)
by analogue CMOS circuits as a locomotion controlling
system. The HNN utilized the pulse‐type hardware
neuron model (P‐HNM) as a basic component. The HNN
outputs the driving pulses using synchronization
phenomena such as biological neural networks. The
driving pulses can operate the actuators of the
biomimetics micro robot directly. Therefore, the HNN
realized the robot control without using any software
programs or A/D converters. The micro robot emulated
the locomotion method and the neural networks of an
insect with rotary type actuators, link mechanisms and
HNN. The micro robot performed forward and backward
locomotion, and also changed direction by inputting an
external trigger pulse. The locomotion speed was 26.4
mm/min when the step width was 0.88 mm. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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