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Title: US5325031: Adaptive robotic nervous systems and control circuits therefor
[ Derwent Title ]

Country: US United States of America

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12 pages

Inventor: Tilden, Mark W.; Waterloo, Ontario, Canada

Assignee: None

Published / Filed: 1994-06-28 / 1992-06-15

Application Number: US1992000898836

IPC Code: Advanced: B62D 57/02;
Core: B62D 57/00;
IPC-7: G06F 15/50;

ECLA Code: B62D57/02;

U.S. Class: Current: 318/568.11; 318/568.16; 706/015; 706/023; 901/001;
Original: 318/568.11; 318/568.16; 395/021; 901/001;

Field of Search: 318/560-589 395/080-89 180/8.1-8.9 901/001,2,3,7,9

Priority Number:
1992-06-15  US1992000898836
1992-06-15  CA1992002071251

Abstract: A self-stabilizing control circuit utilizing pulse delay circuits for controlling the limbs of a limbed robot, and a robot incorporating such a circuit, are provided. The pulse delay circuit acts as an artificial "neuron" which drives servo motors according to a selected sequence which is reconfigurable in response to signals from local or remote sensors. Also disclosed is a pulse neutralizing circuit which can be used to stabilize and reconfigure sequencing loops and chains incorporating the pulse delay circuit, and which can modify the actuation processes controlled thereby.

Attorney, Agent or Firm: Ridout & Maybee ;

Primary / Asst. Examiners: Ip, Paul;

Maintenance Status: E1 Expired  Check current status

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First Claim:
Show all 19 claims
I claim:     1. A sequencing circuit for controlling the motion of a mechanical limb actuated by at least servo motor, comprising a plurality of pulse delay circuits connected in series, in which each pulse delay circuit comprises
  • an inverter for inverting an electrical pulse, the output of which is connected to a capacitor, the input of the next pulse delay circuit in the series being connected to the other side of the capacitor, and
  • voltage threshold means for delaying the operation of the inverter until the capacitor has reached a predetermined charge.

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Description: Show description

Forward References: Show 5 U.S. patent(s) that reference this one

U.S. References: Go to Result Set: All U.S. references   |  Forward references (5)   |   Backward references (12)   |   Citation Link

Patent  Pub.Date  Inventor Assignee   Title
Get PDF - 10pp US5005658  1991-04 Bares et al.  Carnegie-Mellon University Orthogonal legged walking robot
Get PDF - 7pp US5016188  1991-05 Lan  Rockwell International Corporation Discrete-time optimal control by neural network
Get PDF - 35pp US5021878  1991-06 Lang  Semborg-Recrob, Corp. Animated character system with real-time control
Get PDF - 10pp US5032740  1991-07 Kannegundla  Eastman Kodak Company Voltage level conversion of a clock signal
Get PDF - 21pp US5040626  1991-08 Paynter  Hardin; Nathaniel A. Walking robots having double acting fluid driven twistor pairs as combined joints and motors and method of locomotion
Get PDF - 11pp US5045713  1991-09 Shima  Kabushiki Kaisha Toshiba Multi-feedback circuit apparatus
Get PDF - 11pp US5120996  1992-06 Mead et al.  Synaptics, Incorporated Synaptic element and array
Get PDF - 8pp US5124918  1992-06 Beer et al.  Case Western Reserve University Neural-based autonomous robotic system
Get PDF - 16pp US5136176  1992-08 Castro  Intel Corporation Charge domain synapse cell
Get PDF - 16pp US5136177  1992-08 Castro  Intel Corporation Multi-quadrant charge domain synapse cell
Get PDF - 17pp US5136178  1992-08 Castro  Intel Corporation Resistive charge domain synapse cell
Get PDF - 16pp US5180938  1993-01 Sin  Samsung Electronics Co., Ltd. Signal delay circuit having specified transistor threshold levels
Foreign References: None

Other Abstract Info: DERABS G94-208802 DERG94-208802

Other References:
  • SPIE Robotics Newsletter-Apr., 1992.
  • Mathematical Recreations-A. K. Dewdney, Scientific American, Jul., 1991, pp. 118-121. (4 pages) [ISI abstract]
  • A Robot That Walks-Rodney A. Brooks, published 1989; pp. 99-108.
  • Evolving Dynamical Neural Networks for Adaptive Behavior-Randall D. Beer et al., published 1992, Case Western Reserve University, particularly pp. 19-24.
  • A Biological Perspective on Autonomous Agent Design-Randall D. Beer et al., published 1990, North-Holland Robotics and Autonomous Systems 6 (1990) 169-86, particularly pp. 175-178.

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