パルス形ハードウェアニューラルネットワークによるMEMSマイクロロボットの歩行動作制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2012/07/01

タイトル(英語): Locomotion Control of MEMS Micro Robot Using Pulse-Type Hardware Neural Networks

著者名: 齊藤　健（日本大学理工学部精密機械工学科），岡崎　一人（日本大学理工学研究科精密機械専攻），荻原　龍矢（日本大学理工学研究科精密機械専攻），高藤　美泉（日本大学理工学研究科精密機械専攻），佐伯　勝敏（日本大学理工学部電子情報工学科），関根　好文（日本大学理工学部電子情報工学科），内木場　文男（日本大学理工学部精密機械工学科）

著者名(英語): Ken Saito (Department of Precision Machinery Engineering, College of Science and Technology, Nihon University), Kazuto Okazaki (Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University), Tatsuya Ogiwara (Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University), Minami Takato (Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University), Katsutoshi Saeki (Department of Electronics and Computer Science, College of Science and Technology, Nihon University), Yoshifumi Sekine (Department of Electronics and Computer Science, College of Science and Technology, Nihon University), Fumio Uchikoba (Department of Precision Machinery Engineering, College of Science and Technology, Nihon University)

キーワード: パルス形ハードウェアニューロンモデル，ニューラルネットワーク，MEMS，マイクロロボット　　pulse-type hardware neuron model，neural networks，MEMS，micro robot

要約(英語): This paper presents the locomotion control of micro electro mechanical systems (MEMS) micro robot. MEMS micro robot demonstrates the locomotion control by the pulse-type hardware neural networks (P-HNN). P-HNN generates oscillatory patterns of electrical activity such as living organisms. The basic component of P-HNN is pulse-type hardware neuron model (P-HNM). P-HNM has same basic features of biological neurons such as threshold, refractory period, spatio-temporal summation characteristics and enables the generation of continuous action potentials. P-HNN was constructed by MOSFETs, can be integrated by CMOS technology. Same as the living organisms P-HNN realized the robot control without using software programs, or A/D converters. The size of micro robot fabricated by the MEMS technology was 4×4×3.5 [mm]. The frame of robot was made of silicon wafer, equipped with rotary type actuators, link mechanisms and 6 legs. MEMS micro robot emulated the locomotion method and the neural networks of the insect by rotary actuators, link mechanisms and P-HNN. As a result, we show that P-HNN can control the forward and backward locomotion of fabricated MEMS micro robot, and also switched the direction by inputting the external trigger pulse. The locomotion speed was 19.5 [mm/min] and the step width was 1.3 [mm].

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.7 （2012） 特集：平成23年電気学会電子・情報・システム部門大会

本誌掲載ページ: 1094-1100 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/132/7/132_1094/_article/-char/ja/