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International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)

By
Chen Ming
Chen Ming
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ISBN:
9780791859902
No. of Pages:
1400
Publisher:
ASME Press
Publication date:
2011

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
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