Mika Kurosawa, Takuro Sasaki, Masaya Ohara, Taisuke Tanaka, Yuichiro Hayakawa, M. Kaneko, F. Uchikoba, K. Saeki, Ken Saito
{"title":"Gait Pattern Generation of Hexapod-Type Microrobot Using Interstitial Cell Model Based Hardware Neural Networks IC","authors":"Mika Kurosawa, Takuro Sasaki, Masaya Ohara, Taisuke Tanaka, Yuichiro Hayakawa, M. Kaneko, F. Uchikoba, K. Saeki, Ken Saito","doi":"10.23919/ICEP.2019.8733603","DOIUrl":null,"url":null,"abstract":"The authors are studying a robot controlling system using hardware neural networks (HNN). Previously, the authors succeeded to locomote the quadruped-type and the hexapod-type microrobot systems using the HNN integrated circuit (IC). The HNN IC outputs four-phase pulse waveforms to drive both microrobot systems. However, gait patterns need 1.0 s pulse period which requires large capacitors. A large capacitor could not mount on IC; therefore, the external capacitors mounted on the circuit board. The further miniaturization of the HNN IC needs to minimize the capacitors. In this paper, the authors constructed HNN which can generate a large pulse period without using large capacitors. The interstitial cell model is used as a basic element of the HNN to generate a large time constant. The authors designed two types of HNN which can generate a tripod gait pattern and a ripple gait pattern which are typical walking patterns of insects. As a result, designed HNN can generate gait patterns without using external capacitors. The capacitors could construct inside the IC using the interstitial cell model.","PeriodicalId":213025,"journal":{"name":"2019 International Conference on Electronics Packaging (ICEP)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Conference on Electronics Packaging (ICEP)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ICEP.2019.8733603","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
The authors are studying a robot controlling system using hardware neural networks (HNN). Previously, the authors succeeded to locomote the quadruped-type and the hexapod-type microrobot systems using the HNN integrated circuit (IC). The HNN IC outputs four-phase pulse waveforms to drive both microrobot systems. However, gait patterns need 1.0 s pulse period which requires large capacitors. A large capacitor could not mount on IC; therefore, the external capacitors mounted on the circuit board. The further miniaturization of the HNN IC needs to minimize the capacitors. In this paper, the authors constructed HNN which can generate a large pulse period without using large capacitors. The interstitial cell model is used as a basic element of the HNN to generate a large time constant. The authors designed two types of HNN which can generate a tripod gait pattern and a ripple gait pattern which are typical walking patterns of insects. As a result, designed HNN can generate gait patterns without using external capacitors. The capacitors could construct inside the IC using the interstitial cell model.