Cellular Neural Networks and Biologically inspired motion control

摘要

The main purpose of this paper is to present the Cellular Neural Network (CNN) Paradigm as a powerful strategy to design and to implement in hardware efficient locomotion control techniques. A gallery of biologically inspired walking robots are presented. Moreover, the availability of efficient distributed control structures needs a sensing capability of the same efficiency. Therefore the sensing stage is performed by using once againt eh CNN paradigm, but used as fast image processors. The strategy is supported by the fact that CNN devices with on-chip optical sensors are currently being tested and will be soon available. In such a way, images are acquired by a video camera with a CNN image processing device, able to extract the key features. These ones represent the "command" to take on the right locomotion pattern. Since all the methodology is realized by using alalog processors, the whole strategy represented a real breakthrough in the smart sensing and control field.