Adaptive robotic nervous systems and control circuits therefor
First Claim
1. A sequencing circuit for controlling the motion of a mechanical limb actuated by at least servo motor, comprising a plurality of pulse delay circuits connected in series, in which each pulse delay circuit comprisesan inverter for inverting an electrical pulse, the output of which is connected to a capacitor, the input of the next pulse delay circuit in the series being connected to the other side of the capacitor, andvoltage threshold means for delaying the operation of the inverter until the capacitor has reached a predetermined charge.
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Abstract
A self-stabilizing control circuit utilizing pulse delay circuits for controlling the limbs of a limbed robot, and a robot incorporating such a circuit, are provided. The pulse delay circuit acts as an artificial "neuron" which drives servo motors according to a selected sequence which is reconfigurable in response to signals from local or remote sensors. Also disclosed is a pulse neutralizing circuit which can be used to stabilize and reconfigure sequencing loops and chains incorporating the pulse delay circuit, and which can modify the actuation processes controlled thereby.
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Citations
19 Claims
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1. A sequencing circuit for controlling the motion of a mechanical limb actuated by at least servo motor, comprising a plurality of pulse delay circuits connected in series, in which each pulse delay circuit comprises
an inverter for inverting an electrical pulse, the output of which is connected to a capacitor, the input of the next pulse delay circuit in the series being connected to the other side of the capacitor, and voltage threshold means for delaying the operation of the inverter until the capacitor has reached a predetermined charge.
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10. An autonomous device having at least one mechanical limb, comprising
at least one servo motor attached to the limb to actuate motion thereof, a central sequencing loop comprising a plurality of pulse delay circuits connected in series to form a closed loop, and a limb control circuit comprising a chain of pulse delay circuits, the limb control circuit having a proximal pulse delay circuit, and an electrical power source for creating a source potential, whereby the input of the proximal pulse delay circuit in the limb control circuit is connected to an output of a pulse delay circuit in the central sequencing loop, such that a pulse propagating around the central sequencing loop periodically initiates activation of the proximal pulse delay circuit in the limb control circuit.
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15. A walking device including a plurality of limbs actuated by servo motors, having
a central sequencing loop comprising a plurality of pulse delay circuits connected in series to form a closed loop, each servo motor being connected to a chain of pulse delay circuits connected in series and having a proximal pulse delay circuit the input of which is connected to the output of one of the pulse delay circuits in the central sequencing loop, and means for connecting a power source to the pulse delay circuits.
Specification