GS7-3 Hexapod Type MEMS Microrobot Equipped with an Artificial Neural Networks IC

Title:	GS7-3 Hexapod Type MEMS Microrobot Equipped with an Artificial Neural Networks IC
Publication:	ICAROB2017
Volume:	22
Pages:	225-228
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2017.GS7-3
Author(s):	Kazuki Sugita, Taisuke Tanaka, Yuya Nakata, Minami Takato, Ken Saito, Fumio Uchikoba
Publication Date:	January 19, 2017
Keywords:	Microrobot, MEMS, Artificial neural networks, SMA, Artificial muscle wire
Abstract:	This paper proposes a hexapod type microrobot controlled by an artificial neural networks IC. The structural component of the microrobot is produced by micro electro mechanical systems (MEMS) process. The rotary actuator inside the robot is composed of the artificial muscle wire of shape memory alloy (SMA) material. The artificial neural networks IC includes cell body models, inhibitory synaptic models and current mirror circuits. By reducing the heat capacity of the actuator and the length of electrical wire to the actuator, the walking speed achieved 12 mm/min.
PDF File:	https://alife-robotics.co.jp/members2017/icarob/data/html/data/GS_pdf/GS7/GS7-3.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/