Artificial multiped and motion controller therefor

Details Artificial multiped and motion controller therefor Artificial multiped and motion controller therefor

G - Physics

06

N

G06N 3/00 (2006.01) B25J 5/00 (2006.01) B25J 9/16 (2006.01) B25J 13/00 (2006.01) B62D 57/032 (2006.01) G06N 3/063 (2006.01) G06F 19/00 (2006.01) G06T 15/70 (2006.01)

Patent

CA 2439326

An artificial multiped is constructed (either in simulation or embodied) in such a way that its natural body dynamics allow the lower part of each leg to swing naturally under the influence of gravity. The upper part of each leg is actively actuated in the sagittal plane. The necessary input to drive the above-mentioned actuators is derived from a neural network controller. The latter isarranged as two bi-directionally coupled chains of neural oscillators, the number of which equals twice that of the legs to be actuated. Parameter optimisation of the controllers is achieved by evolutionary computation in the form of a genetic algorithm.

Multipède artificiel conçu (sous forme réelle ou virtuelle), de façon que sa dynamique corporelle naturelle permet à la partie inférieure de chaque jambe d'osciller naturellement sous l'effet de la gravité. La partie supérieure de chaque jambe est activée dans le plan sagittal. L'entrée nécessaire pour commander les organes susmentionnés est obtenue au moyen d'un dispositif de commande de réseau neural. Ce dispositif de commande se présente sous la forme de deux chaînes d'oscillateurs neuraux couplées de manière bidirectionnelle et dont le nombre est égal à deux fois celui des jambes à mettre en mouvement. L'optimisation des paramètres des dispositifs de commande s'effectue par calcul évolutif sous forme d'algorithme génétique.

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