Realization of a Reaction-Diffusion CNN Algorithm for Locomotion Control in an Hexapode Robot

Authors:
Paolo Arena;Luigi Fortuna;Marco Branciforte
Affiliations:
Dipartimento Elettrico, Elettronico e Sistemistico, Universita‘ di Catania, V.le A.Doria 6, 95125, Catania, Italy;Dipartimento Elettrico, Elettronico e Sistemistico, Universita‘ di Catania, V.le A.Doria 6, 95125, Catania, Italy;ST Microelectronics, R&D—Soft Computing Group, Stradale Primosole 50, 95100, Catania, Italy
Venue:
Journal of VLSI Signal Processing Systems - Special issue on spatiotemporal signal processing with analog CNN visual microprocessors
Year:
1999

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Evolving robot's behavior by using CNNs

SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior

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Abstract

In this paper a reaction-diffusion CNN is implemented togenerate and adaptively control locomotion in a biologically inspiredwalking robot. In particular a dedicated CNN development system hasbeen realised to make the mechatronic device able to select, based onsensory stimuli, the most suitable locomotion type according to theenvironment. The first example of analog implementation of thebiological paradigm of the Central Pattern Generator is thereforepresented.