Alt-BEAM Archive
Message #00717
To: beam beam@corp.sgi.com
From: Richard Piotter richfile@rconnect.com
Date: Sun, 21 Feb 1999 00:42:56 -0600
Subject: [alt-beam] 78 Neuron Walker
Hey, I found a cool diagram illustrating a 78 neuron neural net for a walking
insect robot. i can actualy make out nearly all the neural pathways from the
image. It's a little ol and some have fased, but there is strong symetry in it,
so that won't be a problem. Hmm... 78/6 is 13... 13 74HC14 chips, a large number
of capacitors & resistors?
Seriously, the design on paper is quite clear. I just need to figure out the
symbols and what physicaly connects to sensors and motors. It won't happen
anytime soon, but I'm going to draw out the diagram and try to post it.
Tomorow I'll search the internet for information on it.
OK, I just did some more reading: 78 neurons, 156 connections. It was originaly
a computer model, but i figure, why not make a real body for it! The thing had
the standard array of excitatory and inhibitory neurons. each leg had 3 motor
neurons, 2 sensory neurons, and what they called a "pacemaker" neuron, a type of
central pattern generator. there was also a command neuron, that regulated the
flow of pulses. Sounds somehow like a PNC to me! The thing, with little else
showed walking ability in the simulation, but not only that, but at several
gaits and speeds!!! It could even handle damage to the neural net. For starters,
I'd like to simulate that! It looks a lot like a more complex version of
Tilden's lobster, but using only standard neuron types and not Nvs. I'm sure
they'd find their place. It looks like the lower body is under 45 neurons. A
little easier, and only 16 "nerves" attaching the head. The head is a little
trickier. The computer simulation had it on a virtual battery and it had to eat.
he program's sensors were programed to detect virtual chemicals to feed on, but
I suppose light could fill in those sensors. It looks very interesting. This
image is probably the very thing that first got me into neural nets!
If anyone want to try finding it themselves, I found it in "SCIENCE NEWS"
November 30, 1991. Vol 140 No 22. Pages 353-368 (It's a thin, thin weekly
paper). The cover story was "See How They Run" and had a drawing of a giant
insect robot stomping through a city street.
If i had the skills, I'd recreate the simulation, but I don't, so I'll have to
do the next better thing and physicaly build! (:
You know, that Spyder frame I was going to build would be perfect if I added 2
more legs! Maybe I'll do that!
I have one BG Micro Motor left. I may take up some of those offers and get 2
more! Than I can at least use this 3rd one on something! (:
Hmm. 45 neurons, upgradable to 78??? Can anyone say major project??? Or how
about versatile, capable, most complex BEAM bot I've ever heard of??? This'd
make a beter robotics project than Quadrapod If I use robotics as an elective
next semester!
Richard Piotter
richfile@rconnect.com
The Richfiles Robotics & TI web page:
http://members.xoom.com/richfiles
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