WAVES AND LOCOMOTION CONTROL



Luigi Fortuna
Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi
UniversitÓ degli Studi di Catania
Viale A. Doria 6, 95125, Catania
Italy
E-mail: lfortuna@diees.unict.it

Summary

In this paper two applications of wave-computing to control bio-inspired robots are discussed. In the first example, the paradigm of emergent wave-computation is applied to locomotion control in legged robots: the locomotion gait is the result of the self-organization of a network of locally coupled nonlinear oscillators (i.e. Central Pattern Generators implemented by using Cellular Neural Network). In the second example, a new methodology and experimental implementations for real-time wave-based robot navigation in a complex, dynamically changing environment are introduced. This new approach is based on reaction-diffusion nonlinear active media in which autowaves propagate; the autowaves are used for information processing purposes and are able to control robot navigation.



Curriculum Vitae

Luigi Fortuna, born in Siracusa on 27/05/1953, engineer, is Full Professor of System Theory since November 1994 at the University of Catania where he is Head of the Department and co-ordinator of the Ph.D. Course in Electronic and Automatic Engineering. He is author of more than 400 scientific publications; among them seven are books published by international editors. He is author of 10 industrial patents. He is in charge for a series of contracts with public and private companies (exMURST, CNR, ENEA, EURATOM, ERG Petroli, ASI, STMicroelectronics, etc). At present he is local co-ordinator of two EC projects (ISAMCO and SPARK). He is national responsible of the FIRB project "Cellular self-organizing nets and chaotic nonlinear dynamics to model and control complex systems". He is IEEE Fellow, Chairman of the IEEE Committee on CNNs.