| 摘要 |
A synthetic nervous system ( 10 ) capable of rudimental learning and self-organization for robotic applications having a control circuit ( 190 ) and servo actuators ( 224 ) using oscillating continuously variable analog voltages to mimic natural bio-neural processes. Simple oscillators ( 1 - 8 ) capable of being modulated in frequency, phase, amplitude, and DC offset act as analog processing elements or oscillating infinite state machines. A central pattern generator ( 140 ) utilizing periodic, quasi-periodic, or chaotic oscillators or phase shifters, or a combination thereof, along with a basic motor neuron circuit ( 314 ) enables multiple servos to coordinate their behavior to enable bio-inspired locomotion such as walking, swimming, flapping, crawling, and the like. Sensors ( 200 ) interfaced to the control circuit ( 190 ) provide a wide range of adaptive behavior such as following a light source, avoiding an obstacle, and shifting balance point. Overlapping or concurrent sensor input can provide complex behavior with minimal circuitry.
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