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Full-Text Articles in Engineering
Design Of A Canine Inspired Quadruped Robot As A Platform For Synthetic Neural Network Control, Cody Warren Scharzenberger
Design Of A Canine Inspired Quadruped Robot As A Platform For Synthetic Neural Network Control, Cody Warren Scharzenberger
Dissertations and Theses
Legged locomotion is a feat ubiquitous throughout the animal kingdom, but modern robots still fall far short of similar achievements. This paper presents the design of a canine-inspired quadruped robot named DoggyDeux as a platform for synthetic neural network (SNN) research that may be one avenue for robots to attain animal-like agility and adaptability. DoggyDeux features a fully 3D printed frame, 24 braided pneumatic actuators (BPAs) that drive four 3-DOF limbs in antagonistic extensor-flexor pairs, and an electrical system that allows it to respond to commands from a SNN comprised of central pattern generators (CPGs). Compared to the previous version …
Emulating Balance Control Observed In Human Test Subjects With A Neural Network, Wade William Hilts
Emulating Balance Control Observed In Human Test Subjects With A Neural Network, Wade William Hilts
Dissertations and Theses
Human balance control is a complex feedback system that must be adaptable and robust in an infinitely varying external environment. It is probable that there are many concurrent control loops occurring in the central nervous system that achieve stability for a variety of postural perturbations. Though many engineering models of human balance control have been tested, no models of how these controllers might operate within the nervous system have yet been developed. We have focused on building a model of a proprioceptive feedback loop with simulated neurons. The proprioceptive referenced portion of human balance control has been successfully modeled by …