Minimalist Approach to Design of Walking Robots

摘要

A minimalist approach to the design of walking robots is presented, in whichemphasis is placed on the simplification of control, the use of mechanics to solve problems, and the use of biologically inspired designs. Control is realized by artflcial neurons, arranged to mimic neural control circuits found in animals. An artificial neuron consists of an RC circuit and an inverting Schmidt trigger. Pulses will travel along loops or chains of neurons. Actuators can be driven in a coordinated manner by the amplified outputs of neurons. The pattern of motion a given network creates in a set of actuators can be modified by changing the number and duration of pulses, and by changing the topology of a network. A simple network controlling properly designed mechanics can result in a robot capable of a wide range of motions, including stepping and various gaits. A nervous network can independently control a walking robot, and it can be interfaced to other devices. A network is described that is interfaced to a microprocessor and controls a physical robot.