公开(公告)号：EP0997235B1

公开(公告)日：2006-08-30

申请号：EP98830658.5

申请日：1998-10-30

Applicant: STMicroelectronics S.r.l.

Inventor： Arena, Paolo ,  Caponeto, Riccardo ,  Fortuna, Luigi ,  Occhipinti, Luigi

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B62D57/032 ,  B25J9/1602 ,  B25J9/1615

公开(公告)号：EP1106310A1

公开(公告)日：2001-06-13

申请号：EP99830744.1

申请日：1999-11-30

Applicant: STMicroelectronics S.r.l.

Inventor： Arena, Paolo ,  Branciforte, Marco ,  Di Bernardo, Giovanni ,  Occhipinti, Luigi

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/161 ,  G05B2219/34065 ,  G06N7/04

Abstract: The invention concerns a new method of controlling the movements of a multi-actuator electromechanical system which has a matrix of locally interconnected analog cells associated therewith. Each cell represents a hardware implementation of a model of fuzzy inference rules. The model is constructed as a fuzzy circuit architecture which is implemented, preferably, in the form of an integrated circuit with VLSI CMOS technology which generates and controls the reaction diffusion mechanism typical of auto-waves by means of a fuzzy neural network.
This fuzzy neural network defines the functional relationships which can duplicate simultaneous reaction diffusion equations, and the duplication of such simultaneous equations is provided by two sets of fuzzy rules processing, in a linguistic manner, the state variables of the cell plurality and imposing on each cell a dynamics of the oscillatory type wherein two dynamic processes having different kynetic characteristics coexist.

Abstract translation: 本发明涉及一种控制多致动器机电系统的运动的新方法，其具有与其相关联的局部互连的模拟单元的矩阵。 每个单元代表模糊推理规则模型的硬件实现。 该模型被构造为模糊电路架构，其优选地以具有VLSI CMOS技术的集成电路的形式实现，其通过模糊神经网络生成和控制典型的自动波的反应扩散机制。 这种模糊神经网络定义了可以重复同时反应扩散方程的功能关系，并且通过两组模糊规则，以语言方式处理单元格的状态变量并强加在每个单元上提供这种联立方程的复制 其中具有不同的生物学特性的两个动态过程共振的振荡类型的动力学。

公开(公告)号：EP1170671A1

公开(公告)日：2002-01-09

申请号：EP00830467.7

申请日：2000-07-04

Applicant: STMicroelectronics S.r.l.

Inventor： Arena, Paolo ,  Occhipinti, Luigi ,  Branciforte, Marco ,  Di Bernardo, Giovanni

IPC: G06F17/13

CPC classification number: G06F17/13

Abstract: The invention relates to an integrated cellular network structure, being programmable to solve partial derivative differential equations in order to control a phenomenon of diffusion or a propagation of electric drive pulses for robot actuators. Advantageously, such structure comprises analog and digital portions interconnected with each other; the analog portion includes a matrix array (6) of analog cells (2) arranged to receive data from an I/O interface (7), and the digital portion includes first and second memory arrays (8,9) for storing a desired configuration and the initial state of such analog matrix array (6), respectively.

Abstract translation: 本发明涉及一种集成的蜂窝网络结构，其可编程以解决偏微分方程，以便控制用于机器人致动器的电驱动脉冲的扩散现象或传播现象。 有利地，这种结构包括彼此互连的模拟和数字部分; 所述模拟部分包括布置成从I / O接口（7）接收数据的模拟单元（2）的矩阵（6），并且所述数字部分包括用于存储所需配置的第一和第二存储器阵列（8,9） 和这种模拟矩阵阵列（6）的初始状态。

公开(公告)号：EP0997235A1

公开(公告)日：2000-05-03

申请号：EP98830658.5

申请日：1998-10-30

Applicant: STMicroelectronics S.r.l.

Inventor： Arena, Paolo ,  Caponeto, Riccardo ,  Fortuna, Luigi ,  Occhipinti, Luigi

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B62D57/032 ,  B25J9/1602 ,  B25J9/1615

Abstract: The invention relates to a new method for the control of movement which takes its idea from the principles on which the movement of certain biological organisms are founded.
The proposed approach also permits the development of robotic architecture equipped with a revolutionary analogic system of locomotion, inspired by biological walking.
The circuital embodiment of such system of locomotion is made concrete with the possibility of circuitally implementing a model of equations of the reaction diffusion type capable of generating, for certain combinations of parameters, initial conditions and boundary conditions, signals of auto-wave or spatial pattern type for the control of movement.

Abstract translation: 本发明涉及一种用于运动控制这需要从哪个某些生物体的运动是建立在原则的理念的新方法。 因此，所提出的方法允许配备了运动的革命性的类比系统，通过生物启发行走机器人构造的发展。 运动的搜索系统的circuital实施例是由混凝土制成与circuitally实施能够产生，为的参数，初始条件和边界条件，自动波或空间图案的信号的某些组合的反应扩散类型的方程的一个模型的可能性 键入移动的控制。