Design of Hopfield Neural Network Controller for an Inchworm Miniature Robot Locomotion


This paper described the structure of a flexible miniature robotic system which can move in small pipes, it makes inchworm-like movement driven by a 3-DOF pneumatic rubber actuator and holds its positions by air chambers, the mechanics and the moving modes of the robot were analyzed, and according to the inchworm locomotive modes and time control orders in one cycle, the Hopfield neural network model was designed for the control of robot locomotion. Results prove the Hopfield neural network controller has good control performance for the robot locomotion process.

  • Abstract
  • Keywords:
  • Introduction
  • Robot System
  • Hopfield Neural Network Controller for Inchworm Robot Locomotion
  • Conclusion
  • Acknowledgments
  • References

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In