Lukasiewicz' insect: the role of continuous-valued logic in a mobile robot's sensors, control, and locomotion

Abstract

The ability to physically realize a colony of insect-like robots presents numerous problems. A hexapod robot controlled by a computational sensor is proposed as a solution to some of these problems. Stiquito is a small nitinol-propelled robot. It is controlled by a computational sensor implemented with Lukasiewicz logic arrays (LLAs). The computational sensor includes an electronic retina, an implicit controller, and a gait generator. Measured and simulated results illustrate the unifying effect of Lukasiewicz logic on the design of the robotic system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>