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2자유도 피에조다리를 이용한 초소형 다족로봇

Title
2자유도 피에조다리를 이용한 초소형 다족로봇
Translated Title
Miniature robot having multiple legs using piezo legs having two degrees of freedom
Inventors
공동욱손병락문상준이동하
DGIST Inventors
손병락; 이동하
Country
US
Application Date
2014-03-16
Application No.
14-358800
Registration Date
2016-01-26
Registration No.
9242370
Assignee
(재)대구경북과학기술원(100/100)
URI
http://hdl.handle.net/20.500.11750/8009
https://doi.org/10.8080/14358800KIPRIS
Abstract
The present invention relates to a miniature robot using a plurality of piezo legs capable of deforming in two degrees of freedom by supplying input voltage signals, and an integrated artificial neural network behavior controller capable of modeling complex behavioral patterns and gait patterns by a simple structure. The miniature robot with multiple legs includes: a main body; a plurality of piezo legs constituted by bimorph piezoelectric elements and connected to the main body to generate motion through morphological deformation in two degrees of freedom by applied voltage signals, thereby resulting in movement on the ground; and a control part including an artificial neural network behavior controller, which controls motion patterns by feeding back information with respect to the environment transmitted from external sensors and to electrical signals transmitted when the piezo legs contact the surface of the ground, to control the voltage applied to each of the piezo legs.
Related Researcher
  • Author Son, Byungrak  
  • Research Interests 연료전지; 스마트그리드; 하이브리드 전원
Files:
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Collection:
Convergence Research Center for Wellness3. Patents


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