Open AccessA MODULAR NEUROCONTROLLER FOR A SENSOR-DRIVEN REACTIVE BEHAVIOR OF BIOLOGICALLY INSPIRED WALKING MACHINES
Author(s) -
Poramate Manoonpong,
Frank Pasemann,
Hubert Roth
Publication year - 2014
Publication title -
computing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.184
H-Index - 11
eISSN - 2312-5381
pISSN - 1727-6209
DOI - 10.47839/ijc.5.3.411
Subject(s) - computer science , modular design , artificial neural network , central pattern generator , preprocessor , deadlock , control theory (sociology) , artificial intelligence , rhythm , distributed computing , control (management) , philosophy , operating system , aesthetics
In this article, a modular neurocontroller is presented. It has the capability to generate a reactive behavior of walking machines. The neurocontroller is formed on the basis of a modular structure. It consists of the three different functionality modules: neural preprocessing, a neural oscillator network and velocity regulating networks. Neural preprocessing is for sensory signal processing. The neural oscillator network, based on a central pattern generator, generates the rhythmic movement for basic locomotion of the walking machines while the velocity regulating networks change the walking directions of the machines with respect to the sensory inputs. As a result, this neurocontroller enables the machines to explore in- and out-door environments by avoiding obstacles and escaping from corners or deadlock situations. It was firstly developed and tested on a physical simulation environment, and then was successfully transferred to the six-legged walking machine AMOS-WD06.