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Development of quadruped robot with locomotion rhythm generator using pulse-type hardware neural networks

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Abstract

This paper discussed about development of quadruped robot which could perform the quadruped animal-like locomotion. Locomotion rhythm of the quadruped robot was generated using the pulse-type hardware neural networks (P-HNN). Quadruped robot had mechanical components and electrical components. The mechanical components of the quadruped robot consist of the body frame, link mechanisms, 4 legs and 4 servo motors to realize the quadruped animal-like locomotion. The body frame, link mechanisms and 4 legs were made from aluminum base alloy. The electrical components of the quadruped robot consist of control board, battery and P-HNN. P-HNN generates the locomotion rhythms using synchronization phenomena such as biological neural networks. The control board actuates the servo motors according to the generated locomotion rhythms. As a result, constructed quadruped robot could perform the quadruped animal-like locomotion using the generated locomotion rhythm, which was shown in this paper.

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Acknowledgments

This study was supported by Nihon University College of Science and Technology Project Research, Nihon University Academic Research Grant (Total research, “14-002’’). We appreciate the support.

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Authors and Affiliations

  1. Nihon University, 7-24-1 Narashinodai, Funabashi-Shi, Chiba, 274-8501, Japan

    Ken Saito, Yuki Ikeda, Minami Takato, Yoshifumi Sekine & Fumio Uchikoba

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  1. Ken Saito
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  2. Yuki Ikeda
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  3. Minami Takato
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  4. Yoshifumi Sekine
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  5. Fumio Uchikoba
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Corresponding author

Correspondence to Ken Saito.

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Saito, K., Ikeda, Y., Takato, M. et al. Development of quadruped robot with locomotion rhythm generator using pulse-type hardware neural networks. Artif Life Robotics 20, 366–371 (2015). https://doi.org/10.1007/s10015-015-0240-y

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  • DOI: https://doi.org/10.1007/s10015-015-0240-y

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