A Hardwired Polymorphic Neural Network for a CPU-less Autonomous Mobile Robot

Seiji Tokura, Akio Ishiguro

研究成果: 会議への寄与学会論文査読

1 被引用数 (Scopus)

抄録

In order to construct truly autonomous mobile robots, the concept of implementability is highly indispensable: all parts such as controllers, power systems, batteries should be embedded inside a body. Therefore, the implementing controller on hardware is one of the most promising ways, since this contributes to low power consumption and miniaturization and so on. Another crucial requirement in the field of autonomous mobile robots is robustness. That is, autonomous mobile robots have to cope with their unpredictably changing environment in real time. In this study, to meet these requirements the concept of Dynamically Rearrangeable Electrical Circuit(DREC) is proposed and we implement this onto FPGAs as physical electronic circuits by borrowing the idea from neuromodulation widely observed in biological nervous systems by the diffusion-reaction mechanism of neuromodulators. We developed the DREC for the peg-pushing task as a practical example. We confirmed that the physical DREC can successfully regulate the behavior according to the situation by changing its properties in real time (see video).

本文言語英語
ページ1216-1221
ページ数6
出版ステータス出版済み - 2003
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, 米国
継続期間: 2003 10月 272003 10月 31

会議

会議2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域米国
CityLas Vegas, NV
Period03/10/2703/10/31

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