Control of a robot leg with an adaptive aVLSI CPG chip
Identifieur interne : 000451 ( Main/Exploration ); précédent : 000450; suivant : 000452Control of a robot leg with an adaptive aVLSI CPG chip
Auteurs : M. Anthony Lewis [États-Unis] ; Mitra J. Hartmann [États-Unis] ; Ralph Etienne-Cummings [États-Unis] ; Avis H. Cohen [États-Unis]Source :
- Neurocomputing [ 0925-2312 ] ; 2001.
Abstract
The rhythmic locomotion of animals, such as walking, swimming, and flying, is controlled by groups of neurons called central pattern generators (CPGs). CPGs can autonomously produce rhythmic output, but under normal biological conditions make extensive use of peripheral sensory feedback. Models of CPGs have been used to control robot locomotion, but none of these models have incorporated sensory feedback adaptation. We have constructed an adaptive CPG in an analog VLSI chip, and have used the chip to control a running robot leg. We show that adaptation based on sensory feedback permits a stable gait even in an underactuated condition: the leg can be driven using a hip actuator alone while the knee is purely passive.
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DOI: 10.1016/S0925-2312(01)00506-9
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CPGs can autonomously produce rhythmic output, but under normal biological conditions make extensive use of peripheral sensory feedback. Models of CPGs have been used to control robot locomotion, but none of these models have incorporated sensory feedback adaptation. We have constructed an adaptive CPG in an analog VLSI chip, and have used the chip to control a running robot leg. We show that adaptation based on sensory feedback permits a stable gait even in an underactuated condition: the leg can be driven using a hip actuator alone while the knee is purely passive.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Maryland</li></region><settlement><li>College Park (Maryland)</li></settlement><orgName><li>Université du Maryland</li></orgName></list><tree><country name="États-Unis"><noRegion><name sortKey="Lewis, M Anthony" sort="Lewis, M Anthony" uniqKey="Lewis M" first="M. Anthony" last="Lewis">M. Anthony Lewis</name></noRegion><name sortKey="Cohen, Avis H" sort="Cohen, Avis H" uniqKey="Cohen A" first="Avis H." last="Cohen">Avis H. Cohen</name><name sortKey="Cohen, Avis H" sort="Cohen, Avis H" uniqKey="Cohen A" first="Avis H." last="Cohen">Avis H. Cohen</name><name sortKey="Etienne Cummings, Ralph" sort="Etienne Cummings, Ralph" uniqKey="Etienne Cummings R" first="Ralph" last="Etienne-Cummings">Ralph Etienne-Cummings</name><name sortKey="Etienne Cummings, Ralph" sort="Etienne Cummings, Ralph" uniqKey="Etienne Cummings R" first="Ralph" last="Etienne-Cummings">Ralph Etienne-Cummings</name><name sortKey="Hartmann, Mitra J" sort="Hartmann, Mitra J" uniqKey="Hartmann M" first="Mitra J." last="Hartmann">Mitra J. Hartmann</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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