Hexapod Type Microrobot Controlled by Power Type IC of Artificial Neural Networks

In this paper, we report the hexapod type micro robot controlled by the neural networks. MEMS (Micro Electro Mechanical System) technology that based on the semiconductor process is used for fabrication of the microrobot. The rotational actuator is composed of four artificial muscle wires that is family of SMA (shape memory alloy). The power type bare chip IC is used for neural networks control systems of the microrobot. The IC includes 4 cell body models, 12 inhibitory synaptic models and current mirror circuits. This power type IC bare chip can output the CPG (Central Pattern Generator) waveform required for walking of the microrobot. By using power type bare chip IC, fine tuning of output current is achieved and the additional amplifier circuit is eliminated. As the result, we indicate possibility of downsizing of driving circuit and the stable actuator control. The sideways, endways, and height dimensions of the microrobot are 4.0mm, 2.7mm, and 2.5mm, respectively. The walking speed is 15mm / min and the step width is 0.6mm. Key-Words: Microrobot, Neural networks, IC bare chip, MEMS technology, Hexapod type, Artificial muscle wire