Alt-BEAM Archive

Message #02299



To: Richard Piotter richfile@rconnect.com, beam beam@corp.sgi.com
From: Dennison dennlill@buffnet.net
Date: Tue, 13 Apr 1999 22:33:38 -0400
Subject: [alt-beam] Re: Spyder VII



I really don't think thats possible with your layout. (and for Wilf there,
Spyders, aren't anything to be familiar with. Spyder is the name of one of
Mark T's bots. It's claim to fame is that it uses eight motors. Take note,
there's a reason why there aren't more of them.) I don't think you can make
the bot turn by biasing the NV's in your simplified design. The motors are
all to interconnected. You can't bias one, without biasing others. It's too
intertwined. The reason why it's a fractal type arrangemenet, and the pulese
all "fall of the ledge" is because the central uCore is the devices CPG
(central pattern generator) it generats the patters to co-ordinate the four
Sub-CpG's which generate the sequences needed to controll the specifi leg.
Turning is a matter mostly of changing the Central CPG, and then tweaking
differently with the Sub-CPG's independently. Here the motors respond most
to a phase shift, not a pulse durration shift. Much like when you put a two
motor walker in reverse. Things get switched. No Nv biasing will get that
done. And likewise, to turn under the condensed version of the stratified
system for Stryder, I don't think it's possible. The simplified version is
simmilar in process-firing order only.

Dennison

>I just know the layout. I'm still expirimenting with the leg sequences.
>I want to bias the Nvs to allow it to turn. Shoudn't be that dificult.
>The mechanics of the leg I did assemble (waiting for parts for the other
>three legs). The one works amazingly well! It's nice! I can't wait to
finish!!!
>
>Wilf Rigter wrote:
>>
>> Nice work Richard, I like the network topology pictures. I don't know
>> anything about spyders. What is the leg sequence and what are the time
>> constants of the network?
>>
>> regards
>>
>> Wilf Rigter mailto:wilf.rigter@powertech.bcca
>> tel: (604)590-7493
>> fax: (604)590-3411
>>
>> > -----Original Message-----
>> > From: Richard Piotter [SMTP:richfile@rconnect.com]
>> > Sent: Tuesday, April 13, 1999 1:23 PM
>> > To: beam
>> > Subject: Spyder VII
>> >
>> > I have an interesting variation on the microcore and specificly, the
>> > branching microcore of Tilden's own Microcore Spyder. I've taken the
>> > original from 16 neurons to 7!!! I noticed many Nvs shared the same
>> > pulse simultaneously, so I did some thinking and came up with the
>> > following Nv layout. It looks interesting. Some familiar symetry that
>> > I've seen in more advanced neural networks, but a very simple layout! I
>> > have a small picture. If anyone has an opinion on the variation, it's
>> > definitely welcome...
>> > --
>> >
>> >
>> > Richard Piotter
>> > richfile@rconnect.com
>> >
>> > The Richfiles Robotics & TI web page:
>> > http://richfiles.calc.org
>> >
>> > For the BEAM Robotics list:
>> > BEAM Robotics Tek FAQ
>> > http://people.ne.mediaone.net/bushbo/beam/FAQ.html << File: Unknown
>> > Document >>
>
>--
>
>
>Richard Piotter
>richfile@rconnect.com
>
>The Richfiles Robotics & TI web page:
>http://richfiles.calc.org
>
>For the BEAM Robotics list:
>BEAM Robotics Tek FAQ
>http://people.ne.mediaone.net/bushbo/beam/FAQ.html


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