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Proceedings Paper

CPU-less robotics: distributed control of biomorphs
Author(s): Ralph Etienne-Cummings; M. Anthony Lewis; Mitra Hartmann; Avis H. Cohen
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Paper Abstract

Traditional robotics revolves around the microprocessor. All well-known demonstrations of sensory guided motor control, such as jugglers and mobile robots, require at least one CPU. Recently, the availability of fast CPUs have made real-time sensory-motor control possible, however, problems with high power consumption and lack of autonomy still remain. In fact, the best examples of real-time robotics are usually tethered or require large batteries. We present a new paradigm for robotics control that uses no explicit CPU. We use computational sensors that are directly interfaced with adaptive actuation units. The units perform motor control and have learning capabilities. This architecture distributes computation over the entire body of the robot, in every sensor and actuator. Clearly, this is similar to biological sensory- motor systems. Some researchers have tried to model the latter in software, again using CPUs. We demonstrate this idea in with an adaptive locomotion controller chip. The locomotory controller for walking, running, swimming and flying animals is based on a Central Pattern Generator (CPG). CPGs are modeled as systems of coupled non-linear oscillators that control muscles responsible for movement. Here we describe an adaptive CPG model, implemented in a custom VLSI chip, which is used to control an under-actuated and asymmetric robotic leg.

Paper Details

Date Published: 17 November 2000
PDF: 9 pages
Proc. SPIE 4109, Critical Technologies for the Future of Computing, (17 November 2000); doi: 10.1117/12.409207
Show Author Affiliations
Ralph Etienne-Cummings, Johns Hopkins Univ. and Iguana Robotics, Inc. (United States)
M. Anthony Lewis, Iguana Robotics, Inc. (United States)
Mitra Hartmann, California Institute of Technology (United States)
Avis H. Cohen, Univ. of Maryland/College Park (United States)

Published in SPIE Proceedings Vol. 4109:
Critical Technologies for the Future of Computing
Sunny Bains; Leo J. Irakliotis, Editor(s)

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