An autonomous mini-hexapod robot controlled through a CNN-based CPG VLSI chip

Abstract

This paper deals with the application of a VLSI chip for locomotion control of a mini-hexapod robot. The chip that implements a CPG through a CNN-based structure, has been already used in different bio-inspired structures. The aim of this work is to show the realization of a completely autonomous mini-legged robot by means of the VLSI device. Moreover the chip permits the integration of exteroceptive sensors that can be used to close the feedback loop with the environment implementing simple navigation control strategies. Experimental results obtained in different environmental conditions are reported and discussed