Meet ANIBOT: The First Biologically-Inspired Animal Robot

被引：6

作者：

In, Visarath ^{[1
]}

Kho, Andy ^{[1
]}

Longhini, Patrick ^{[1
]}

Neff, Joseph D. ^{[1
]}

Palacios, Antonio ^{[2
]}

Buono, Pietro-Luciano ^{[3
]}

机构：

[1] Naval Informat Warfare Ctr Pacific, Code 71780,53560 Hull St, San Diego, CA 92152 USA

[2] San Diego State Univ, Dept Math, Nonlinear Dynam Syst Grp, San Diego, CA 92182 USA

[3] Univ Quebec Rimouski, 300 Allee Ursulines, Rimouski, PQ G5L 3A1, Canada

来源：

INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS | 2022年 / 32卷 / 01期

关键词：

Central pattern generator; symmetry; coupled nonlinear oscillator; network; bifurcation; CENTRAL PATTERN GENERATORS; QUADRUPED LOCOMOTION; MODELS; WALKING;

D O I：

10.1142/S0218127422300014

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

We present the first circuit realization of an animal (quadruped) robot controlled by a Central Pattern Generator (CPG) network of neurons, whose model and design are biologically-inspired [Golubitsky et al., 1998, 1999]. We demonstrate, through hardware simulations of the CPG network and through video snapshots, that our electronic CPG and our animal robot can indeed reproduce, via symmetry-breaking Hopf bifurcations, all primary gaits - walk, jump, trot, bound, pace, and pronk - just as they were originally predicted by theory. The design and development of the circuit realization are discussed in great detail.

引用

页数：13

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