TY - GEN
T1 - Implementation of analog controller based on biological nervous system for biomimetics walking robot
AU - Kim, Sung Hoon
AU - Kang, Tae Hun
AU - Cho, Jin Ho
PY - 2008
Y1 - 2008
N2 - In this paper, we proposed an analog neural controller (ANC) that is similar to physical modeling of the nervous system. ANC is composed of sensory neurons, motor neurons, synapses and dendrites. The functions of sensory neurons generate CPG signals and motor neurons change the sensory neuron signal for driving actuators. Synapses connect between neurons and the weigh to be given. Dendrites can accept external signal from the sensor. Because of parallel structure which is one of main characteristic of ANC, it is possible to walk by generating new pattern even though one of the neuron is out of working.
AB - In this paper, we proposed an analog neural controller (ANC) that is similar to physical modeling of the nervous system. ANC is composed of sensory neurons, motor neurons, synapses and dendrites. The functions of sensory neurons generate CPG signals and motor neurons change the sensory neuron signal for driving actuators. Synapses connect between neurons and the weigh to be given. Dendrites can accept external signal from the sensor. Because of parallel structure which is one of main characteristic of ANC, it is possible to walk by generating new pattern even though one of the neuron is out of working.
UR - https://www.scopus.com/pages/publications/84891799463
U2 - 10.1142/9789812835772_0027
DO - 10.1142/9789812835772_0027
M3 - Conference contribution
AN - SCOPUS:84891799463
SN - 9812835768
SN - 9789812835765
T3 - Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008
SP - 221
EP - 228
BT - Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008
PB - World Scientific Publishing Co. Pte Ltd
T2 - 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008
Y2 - 8 September 2008 through 10 September 2008
ER -