Neural Networks Integrated Circuit for Biomimetics MEMS Microrobot
by
Ken Saito 1,*
, Kazuaki Maezumi 2, Yuka Naito 2, Tomohiro Hidaka 2, Kei Iwata 2, Yuki Okane 2, Hirozumi Oku 2, Minami Takato 2 and Fumio Uchikoba 1
, Kazuaki Maezumi 2, Yuka Naito 2, Tomohiro Hidaka 2, Kei Iwata 2, Yuki Okane 2, Hirozumi Oku 2, Minami Takato 2 and Fumio Uchikoba 1
1
Department of Precision Machinery Engineering, College of Science and Technology, Nihon University, 7-24-1 Narashinodai, Funabashi-shi, Chiba 274-8501, Japan
2
Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, 1-8-14 Kanda Surugadai, Chiyoda-ku, Tokyo 101-8308, Japan
*
Author to whom correspondence should be addressed.
Robotics 2014, 3(3), 235-246; https://doi.org/10.3390/robotics3030235
Received: 31 March 2014 / Revised: 23 May 2014 / Accepted: 18 June 2014 / Published: 25 June 2014
(This article belongs to the Special Issue Advances in Biomimetic Robotics)
In this paper, we will propose the neural networks integrated circuit (NNIC) which is the driving waveform generator of the 4.0, 2.7, 2.5 mm, width, length, height in size biomimetics microelectromechanical systems (MEMS) microrobot. The microrobot was made from silicon wafer fabricated by micro fabrication technology. The mechanical system of the robot was equipped with small size rotary type actuators, link mechanisms and six legs to realize the ant-like switching behavior. The NNIC generates the driving waveform using synchronization phenomena such as biological neural networks. The driving waveform can operate the actuators of the MEMS microrobot directly. Therefore, the NNIC bare chip realizes the robot control without using any software programs or A/D converters. The microrobot performed forward and backward locomotion, and also changes direction by inputting an external single trigger pulse. The locomotion speed of the microrobot was 26.4 mm/min when the step width was 0.88 mm. The power consumption of the system was 250 mWh when the room temperature was 298 K.
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Keywords:
biomimetics; MEMS; microrobot; integrated circuit; neural networks
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MDPI and ACS Style
Saito, K.; Maezumi, K.; Naito, Y.; Hidaka, T.; Iwata, K.; Okane, Y.; Oku, H.; Takato, M.; Uchikoba, F. Neural Networks Integrated Circuit for Biomimetics MEMS Microrobot. Robotics 2014, 3, 235-246.
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