General Control Model for Bionic Inchworm Robot Moving Modes Based on Discrete Hopfield Neural Network

摘要

In this paper, Based on the principle of discrete Hop field neural network, a general Hop field neural network control model is proposed and applied in an bionic inchworm 3-DOF micro robot moving modes process. The structure and the moving modes in one step cycle of the inchworm robot system were described, and according to orderly continuous moving modes, a three-node Hop field neural network with two groups of connecting weight coefficients and thresholds was designed, which could be used to control the orderly continuous convergence inchworm robot moving states of space 3-DOF direction in one step moving cycle. Results prove the Hop field neural network controller is suitable for the inchworm robot moving process control.