Hybrid control architecture in bio-mimetic robot

Abstract

The paper discussed a new control architecture for bio-mimetic robot, hybrid control architecture combines the best aspects of reactive and deliberative control and is proven to be the most suitable controller for autonomous bio-mimetic robots. The hybrid control architecture consist a command/coordinating level with computed discrete time map-based (DTM) neuronal networks and the central pattern generators with analog electronic neuron networks. The two technologies can be fused through a D/A interface.