In this paper a tele-operated hexapod robot is introduced. The locomotion control is inspired to the biological paradigm of Central Pattern Generator. It is a hierarchical functional structure organized and implemented by a Cellular Nonlinear Network (CNN), generating the locomotion gaits. The CNN is simulated on a PC interfaced with the robot by using a wireless communication module. The circuitry carried on the robot is modular and is intended to measure many variables both to characterize the system behaviour and to study sensory feedback. This aims to be a general framework to perform experimental tests of bio-inspired strategies on the hexapod robot and at the same time constitutes a first step in the design of a totally autonomous walking hexapod with CNN bio-inspired control including feedback issues.
A tele-operated walking hexapod controlled by a CNN-based CPG
Patane, L;
2003-01-01
Abstract
In this paper a tele-operated hexapod robot is introduced. The locomotion control is inspired to the biological paradigm of Central Pattern Generator. It is a hierarchical functional structure organized and implemented by a Cellular Nonlinear Network (CNN), generating the locomotion gaits. The CNN is simulated on a PC interfaced with the robot by using a wireless communication module. The circuitry carried on the robot is modular and is intended to measure many variables both to characterize the system behaviour and to study sensory feedback. This aims to be a general framework to perform experimental tests of bio-inspired strategies on the hexapod robot and at the same time constitutes a first step in the design of a totally autonomous walking hexapod with CNN bio-inspired control including feedback issues.Pubblicazioni consigliate
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