General Control Model for Bionic Inchworm Robot Moving Modes Based on Discrete Hopfield Neural Network

摘要：

In this paper, Based on the principle of discrete Hopfield neural network, a general Hopfield neural network control model is proposed and applied in an bionic inchworm 3-DOF micro robot moving modes process. The structure and the moving modes in one step cycle of the inchworm robot system were described, and according to orderly continuous moving modes, a three-node Hopfield neural network with two groups of connecting weight coefficients and thresholds was designed, which could be used to control the orderly continuous convergence inchworm robot moving states of space 3-DOF direction in one step moving cycle. Results prove the Hopfield neural network controller is suitable for the inchworm robot moving process control.

关键词： Hopfield Neural network general control model inchworm robot moving State

作者: Yu Lianzhi Chen Jian

作者单位: College of Optoelectric and Electric Information Engineering, University of Shanghai for Science and Technology,200093, China

会议类型: 国际会议

会议名称: 2012 International Conference on Intelligent System Design and Engineering Applications(2012年智能系统设计与工程应用国际会议 ISDEA 2012)

会议地点: 三亚

会议语种:英文

页码: 687-690

在线出版日期: 2012-01-06（万方平台首次上网日期，不代表论文的发表时间）