A MODULAR NEUROCONTROLLER FOR A SENSOR-DRIVEN REACTIVE BEHAVIOR OF BIOLOGICALLY INSPIRED WALKING MACHINES

A Modular Neurocontroller for a Sensor - Driven Reactive Behavior of Biologically Inspired Walking Machines

In this article, a modular neurocontroller is presented. It has the capability to generate a reactive behavior of walking machines. The neurocontroller is formed on the basis of a modular structure. It consists of the three different functionality modules: neural preprocessing, a neural oscillator network and velocity regulating networks. Neural preprocessing is for sensory signal processing. T...

Modular Reactive Neurocontrol for Biologically Inspired Walking Machines

A neurocontroller is described which generates the basic locomotion and controls the sensor-driven behavior ofa four-legged and a sixlegged walking machine. The controller utilizes discrete-time neurodynamics, and is ofmodular structure. One module isfor processing sensor signals, one is a neural oscillator network serving as a central pattern generator, and the third one is a so-called velocit...

Reactive Maze Solving with a Biologically-Inspired Wind Sensor

Tim Chapman Department of Psychology, University of Stirling, Scotland, FK9 4DN, UK [email protected] Adam T. Hayes MS136-93, California Institute of Technology, Pasadena, CA 91125, USA [email protected] Mark W. Tilden MSA454, Los Alamos National Laboratory, Los Alamos, NM 87545, USA [email protected] Abstract We describe the design and testing of a novel biologically-inspired wi...

Biologically inspired walking machines: design, control and perception.

This article presents a set of methods used to support the design and control of biologically inspired walking machines. Starting with a description of the general system design idea, an example for the design of the mechanical construction, a computer supported design procedure for the control architecture and the description of a three-dimensional world model to be used as knowledge base is g...

A biologically inspired four legged walking robot