Synthetic Nervous System for Robotics
First Claim
1. A control circuit for an actuator, comprising:
- an analog central pattern generator circuit structured to generate a sine wave control signal at an output; and
an analog multi-vibrator circuit having an input coupled to the output of the central pattern generator and an output configured to be coupled to the actuator, the multi-vibrator circuit structured to generate a sine-variable rectangular wave signal in response to the control signal from the central pattern generator to drive the servo in a sine movement pattern.
1 Assignment
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Accused Products
Abstract
A synthetic nervous system (10) capable of rudimental learning and self-organization for robotic applications having a control circuit (190) and servo actuators (224) using oscillating continuously variable analog voltages to mimic natural bio-neural processes. Simple oscillators (1-8) capable of being modulated in frequency, phase, amplitude, and DC offset act as analog processing elements or oscillating infinite state machines. A central pattern generator (140) utilizing periodic, quasi-periodic, or chaotic oscillators or phase shifters, or a combination thereof, along with a basic motor neuron circuit (314) enables multiple servos to coordinate their behavior to enable bio-inspired locomotion such as walking, swimming, flapping, crawling, and the like. Sensors (200) interfaced to the control circuit (190) provide a wide range of adaptive behavior such as following a light source, avoiding an obstacle, and shifting balance point. Overlapping or concurrent sensor input can provide complex behavior with minimal circuitry.
17 Citations
39 Claims
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1. A control circuit for an actuator, comprising:
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an analog central pattern generator circuit structured to generate a sine wave control signal at an output; and
an analog multi-vibrator circuit having an input coupled to the output of the central pattern generator and an output configured to be coupled to the actuator, the multi-vibrator circuit structured to generate a sine-variable rectangular wave signal in response to the control signal from the central pattern generator to drive the servo in a sine movement pattern. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9-17. -17. (canceled)
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18. A basic motor neuron circuit, comprising:
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a first transistor having a control terminal coupled to an input, a first terminal coupled to a voltage source and a second terminal;
a second transistor having a control terminal coupled to the second terminal of the first transistor, a first terminal coupled to the voltage source and to an output, and a second terminal coupled to a reference voltage; and
a third transistor having a control terminal coupled to the output and to the voltage source, a first terminal coupled to the voltage source, and a second terminal coupled to the reference voltage. - View Dependent Claims (19, 20)
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21. A robotic machine, comprising:
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at least one movable component coupled to a servo that generates movement of the component;
a control circuit coupled to the servo for controlling actuation of the servo, the control circuit comprising;
a first transistor having a control terminal coupled to an input, a first terminal coupled to a voltage source and a second terminal;
a second transistor having a control terminal coupled to the second terminal of the first transistor, a first terminal coupled to the voltage source and to an output, and a second terminal coupled to a reference voltage; and
a third transistor having a control terminal coupled to the output and to the voltage source, a first terminal coupled to the voltage source, and a second terminal coupled to the reference voltage. - View Dependent Claims (22, 23)
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24. A synthetic nervous system for robotic locomotion, comprising:
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a central pattern generator having a pair of phase-coupled sine wave oscillators generating at least two output signals;
at least one motor neuron circuit coupled to the central pattern generator to receive at least one output therefrom; and
at least one servo coupled to the motor neuron circuit to receive an actuation signal therefrom. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32)
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33. A synthetic nervous system for robotic locomotion, comprising:
a motor neuron circuit having first and second transistors coupled together to function as a multi-vibrator, a third transistor configured as a voltage-variable resistor providing input to the motor neuron circuit, and an output on which is generated a pulse train signal providing input to the motor neuron circuit, and an output on which is generated a pulse train signal responsive to an input signal. - View Dependent Claims (34, 35, 36, 37, 38, 39)
Specification