319 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.