MASSIVELY DISTRIBUTED NEUROMORPHIC CONTROL FOR LEGGED ROBOTS MODELED AFTER INSECT STEPPING

Simulated RObot exhibiting behAvior CHanges (SimROACH) is a massively distributed control architecture for legged robots composed of simulated physiological neuron and synapse models. Its structure is based on insect neurobiology. Each joint uses a unique central pattern generator (CPG) to produce oscillation. The CPGs in each leg cannot directly communicate, but are coordinated by sensory influences, producing stepping motion. One CPG from each leg receives input from the same CPG in other legs, coordinating walking motion. The pathways that coordinate CPGs or legs can be modified by descending commands to change the way the joints flex or legs step with respect to one another, smoothly changing gait while in motion. SimROACH walks and changes gait in a simulated physics environment. SimROACH’s middle leg network was further verified by successfully controlling a single robotic leg attached to a test stand.

Name thesis:degree_name

Master of Sciences (Engineering)

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

EMC - Mechanical Engineering

Grantor dc:publisher

Case Western Reserve University School of Graduate Studies

Year dc:date

2013

Author dc:creator

• Szczecinski, Nicholas S.

Contributors dc:contributor

• Quinn, Roger

• Biology
• Engineering
• Mechanical Engineering
• Neurobiology
• Robotics
• Walking robots
• computational neuroscience
• robotic behavior
• gaits

Statement dc:rights

• unrestricted
• This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.

Language dc:language

English

Repository record dc:identifier

http://rave.ohiolink.edu/etdc/view?acc_num=case1354648661

OAI identifier oai:identifier

oai:etd.ohiolink.edu:case1354648661