Cascade Hopfield Neural Network Model and Application in Robot Moving Process

Abstract

Based on the principle of discrete Hopfield neural network, the paper proposes a cascade Hopfield neural network controller model and applied in a miniature inchworm robot locomotion process. According to the robot moving modes in one cycle, the cascade Hopfield neural network model with three neural nodes was set up, the weight factors and thresholds of the networks had been designed. The convergence results prove the cascade Hopfield neural network controller is suitable for the orderly continuous moving process of an inchworm robot.