Biomimetics micro robot with CMOS IC neural networks locomotion control

Abstract

In this paper, we presented the 4.0, 2.7, 2.5 (mm), width, length, height size biomimetics micro robot system which was inspired by ant. The micro robot system was made from silicon wafer fabricated by micro electro mechanical systems (MEMS) technology. The mechanical system of the robot was equipped with small size rotary type actuators, link mechanisms and six legs to realize the insect-like switching behavior. In addition, we constructed the complementary metal oxide semiconductor integrated circuit neural networks (CMOS IC NN) as a locomotion controlling system. The CMOS IC NN utilized the pulse-type hardware neuron model (P-HNM) as a basic component. The CMOS IC NN outputs the driving pulses using synchronization phenomena such as biological neural networks. The driving pulses can operate the actuators of the biomimetics micro robot directly. Therefore, the CMOS IC NN realized the robot control without using any software programs or A/D converters. The micro robot emulated the locomotion method and the neural networks of an insect with rotary type actuators, link mechanisms and CMOS IC NN. The micro robot performed forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was 26.4 (mm/min) when the step width was 0.88 (mm).