Journal
ROBOTICS
Volume 3, Issue 3, Pages -Publisher
MDPI
DOI: 10.3390/robotics3030235
Keywords
biomimetics; MEMS; microrobot; integrated circuit; neural networks
Categories
Funding
- Research Center for Micro Functional Devices, Nihon University
- Nihon University College of Science and Technology Project Research
- JSPS KAKENHI [23760243, 25420226]
- VLSI Design and Education Center (VDEC)
- University of Tokyo in collaboration with Synopsys, Inc.
- Cadence Design Systems, Inc.
- Mentor Graphics, Inc.
- Grants-in-Aid for Scientific Research [23760243, 25420226] Funding Source: KAKEN
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In this paper, we will propose the neural networks integrated circuit (NNIC) which is the driving waveform generator of the 4.0, 2.7, 2.5 mm, width, length, height in size biomimetics microelectromechanical systems (MEMS) microrobot. The microrobot was made from silicon wafer fabricated by micro fabrication technology. The mechanical system of the robot was equipped with small size rotary type actuators, link mechanisms and six legs to realize the ant-like switching behavior. The NNIC generates the driving waveform using synchronization phenomena such as biological neural networks. The driving waveform can operate the actuators of the MEMS microrobot directly. Therefore, the NNIC bare chip realizes the robot control without using any software programs or A/D converters. The microrobot performed forward and backward locomotion, and also changes direction by inputting an external single trigger pulse. The locomotion speed of the microrobot was 26.4 mm/min when the step width was 0.88 mm. The power consumption of the system was 250 mWh when the room temperature was 298 K.
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