15 - Locomotion rhythm generation using pulse-type hardware neural networks for quadruped robots

Abstract

This chapter discusses about the pulse-type hardware neural networks (P-HNN) which can generate the locomotion rhythms of quadruped robot. Quadruped robot has mechanical components and electrical components. The mechanical components of the quadruped robot consist of a body frame, four servo motors, link mechanisms, and four legs to realize the quadruped animal-like locomotion. The electrical components of the quadruped robot consist of a control bode, P-HNN and battery. Locomotion rhythms were generated by P-HNN. P-HNN generates the locomotion rhythms using synchronization phenomena such as biological neural networks. The control bode actuates the servo motors according to the generated locomotion rhythms. As a result, locomotion of the quadruped robot was shown in this chapter.