Authors
Kazuki Sugita, Taisuke Tanaka, Yuya Nakata, Minami Takato, Ken Saito, Fumio Uchikoba
Corresponding Author
Kazuki Sugita
Available Online 1 June 2017.
DOI
https://doi.org/10.2991/jrnal.2017.4.1.7How to use a DOI?
Keywords
Microrobot, MEMS, Artificial neural networks, SMA, Artificial muscle wire
Abstract
This paper proposes a hexapod type microrobot controlled by an artificial neural networks IC. The structural component of the microrobot is produced by micro electro mechanical systems (MEMS) process. The rotary actuator inside the robot is composed of the artificial muscle wire of shape memory alloy (SMA) material. The artificial neural networks IC includes cell body models, inhibitory synaptic models and current mirror circuits. By reducing the heat capacity of the actuator and the length of electrical wire to the actuator, the walking speed achieved 12 mm/min.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).