A Novel Hardware-Efficient Central Pattern Generator Model Based on Asynchronous Cellular Automaton Dynamics for Controlling Hexapod Robot
نویسندگان
چکیده
منابع مشابه
A novel hardware-efficient gene network model based on asynchronous cellular automaton dynamics
The gene affects various behaviors of animals such as circadian rhythm, courtship behavior, motor behavior, visual behavior, and learning. The circadian rhythm is a biological rhythm having a period of almost 24 hours, which is sometimes called internal clock or biological clock. In this paper, a novel asynchronous cellular automaton model of a gene network is proposed, where its vector field i...
متن کاملCentral Pattern Generator Incorporating the Actuator Dynamics for a Hexapod Robot
We proposed the use of a Toda-Rayleigh ring as a central pattern generator (CPG) for controlling hexapodal robots. We show that the ring composed of six Toda-Rayleigh units coupled to the limb actuators reproduces the most common hexapodal gaits. We provide an electrical circuit implementation of the CPG and test our theoretical results obtaining fixed gaits. Then we propose a method of incorpo...
متن کاملOn Chaotic Oscillator-Based Central Pattern Generator for Motion Control of Hexapod Walking Robot
In this paper, we address a problem of motion control of a real hexapod walking robot along a trajectory of the prescribed curvature and desired motion gait. The proposed approach is based on a chaotic neural oscillator that is employed as the central pattern generator (CPG). The CPG allows to generate various motion gaits according to the specified period of the chaotic oscillator. The output ...
متن کاملA Cellular Automaton Based Algorithm for Mobile Sensor Gathering
In this paper we proposed a Cellular Automaton based local algorithm to solve the autonomously sensor gathering problem in Mobile Wireless Sensor Networks (MWSN). In this problem initially the connected mobile sensors deployed in the network and goal is gather all sensors into one location. The sensors decide to move only based on their local information. Cellular Automaton (CA) as dynamical sy...
متن کاملControlling swimming and crawling in a fish robot using a central pattern generator
Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of the speed, direction, and type of locomotor behavior. In this article we address the problem of controlling the non-steady state swimming and c...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2020
ISSN: 2169-3536
DOI: 10.1109/access.2020.3012706