M.Ing. (Mechanical Engineering) / The research reported in this thesis describes the design and simulation of a neural controller for a three -degree-of-freedom robot leg for use as an hexapod leg . Biological systems are considered as a motivation to develop the neural control system for hexapod walking on a horizontal surface . Backpropagation training of multilayer perceptrons and a combination of heterogeneous neurons are used to implement several pattern generators with different behaviours. The artificial neurons are simulated and connected together with the pattern generators to form a complete control system . Previous work [48] shows the performance of a two -degree-of-freedom leg controller - this type of controller however cannot compensate for surface irregularities , The control system for the three degree-of-freedom leg is then further extended to compensate for surface irregularities that cannot be traversed by the two -degree-of-freedom leg.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:uj/uj:10591 |
| Date | 14 April 2014 |
| Creators | Benadé, Johannes Gerhardus |
| Source Sets | South African National ETD Portal |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Johannesburg |
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