Biomimetic approaches to the control of underwater walking machines

摘要: We have developed a biomimetic robot based on the American lobster. The is designed to achieve performance advantages of animal model by adopting biomechanical features and neurobiological control principles. Three types controllers are described. first state machine connectivity dynamics lobster central pattern generator (CPG). controls myomorphic actuators shape memory alloys (SMAs) responds environmental perturbation through sensors that employ labelled-line code. controller supports library action patterns exteroceptive reflexes mediate tactile navigation, obstacle negotiation adaptation surge. extending this neuronal network-based models. A second type leg CPG synaptic networks electronic neurons has been adapted SMA actuated leg. brain being using layered discrete time map-based neurons.