| タイトル | Robustness of a distributed neural network controller for locomotion in a hexapod robot |
| 著者（英） | Espenschied, Kenneth S.; Quinn, Roger D.; Beer, Randall D.; Chiel, Hillel J. |
| 著者所属（英） | NASA Headquarters; NASA Goddard Space Flight Center |
| 発行日 | 1992-06-01 |
| 言語 | eng |
| 内容記述 | A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control. |
| NASA分類 | CYBERNETICS |
| レポートNO | 92A51137 |
| 権利 | Copyright |
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