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Electronic Nervous Systems for Biomimetic Robots |
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AbstractWe are exploring the use of INLS electronic neurons to build nervous systems for biomimetic robots. We have previously developed a lobster-based walking robot that uses a finite state machines based on the walking network to generate omnidirectional walking underwater. We are presently developing an electronic CPG for this robot using electronic neurons and synapses. We have been examining networks to produce the correct 4 phase rhythm of the walking program, to modulate the rhythm and to alter connectivity within the network to produce programs for walking in different directions (left). In addition we have performed phase response curve and entrainment analysis to establish mechanisms for phase modulating reflexes and intersegmental coordination. We are able to control nitinol actuators directly using trains of electronic neuron action potentials to gate current drivers and an analogous fashion to how motor neurons actuate muscle (above). We plan to develop a set of exteroceptive reflexes based on antennae, bump sensors, inclinometers, a compass and optical flow sensors as well as proprioceptors for the individual legs. |
PeopleJ. AyersA. Volkovskii M. I. Rabinovich H. D. I Abarbanel A. I. Selverston N. F. Rulkov P. Varona A. Szücs |
PublicationsAyers, J. and Davis, J., Rudolph, A. (2002) Neurotechnology for Biomimetic Robots, MIT Press 636pp. Szücs, A., P. Varona, A. Volkovskii, H. D. I. Abarbanel, M. I. Rabinovich, and A. I. Selverston, Interacting Biological and Electronic Neurons Generate Realistic Oscillatory Rhythms , Neuroreport, 11:563-569 (2000). Pinto, R. D., P. Varona, A. R. Volkovskii, A. Sz\"cs, H. D. I. Abarbanel, and M. I. Rabinovich, ``Synchronous Behavior of Two Coupled Electronic Neurons, Physical Review E, 62:2644-2656 (2000). |
| Comments? Contact | Terry Peters, Phone +1-858-534-7753, tpeters (at) ucsd.edu |