110
Figure 9-11 shows a spider robot with 4 legs and 16 degrees of freedom. Each hinge has
2 degrees of freedom in rotation. A 16×16 CNN array can be used to drive this robot. Figure
9-12 shows the sequences of the robot locomotion after the learning process. In this test,
the robot must turn around the ‘z’ axis. Another test in Figure 9
-11 shows the design of a
6 legs insect robot for locomotion learning. The robot has 12 degrees of freedom in hinges.
In this case, the aim is moving around the circle with a given radius. After nearly 2500
iterations it was found that the result converged to zero. The CNN templates shown in
Equation 9-6 are optimized for this purpose. The fitness function in Equation 9-7 is used to
generate the CNN output wave shown in Figure 9-14.
(9-6)
