From: wesk@eskimo.com (Wes Klang)
Subject: (BEAM Q): Details wanted for Hosslacher/Tilden Control Core
Date: Fri, 3 May 1996 03:29:08 GMT

In the paper "Living Machines" by Hosslacher and Tilden 
(available several places on the Web), there are descriptions
of several four-legged, biomorphic, walking machines which don't 
use microprocessors but, instead, a control core of a rather
small number of transistors.
 
Two examples discussed in the paper:

    VBUG 1.2 "Lobster":
       Control core:
           12-transistor adaptive Nervous net (Nv)
           16-transistor heuristic Neural net  (Nu)
           40-transistor motor drive array
           Total transistors: 68
       Emergent behaviors:
           - learns walking in 3 sec from a cold start
           - obstacle avoidance, retreat, attack
           - 6 distinct walking gaits
    VBUG 1.5 "Walkman":
      Control core:
        8-transistor Nv 
        4-transistor NU
        22-transistor motor drive
        Total transistors: 32
      Emergent behaviors:
        - high-speed walking convergence
        - 3 gaits
        - backup/explore capability

The paper discusses in general terms the architecture of
the control core, but I'm looking for pointers to more 
detailed information on how these control cores work. 
Any help would be appreciated.

Thanks in advance.

Wes Klang
-- 
Wes Klang                                              E-mail: wesk@eskimo.com
12220 Evanston Ave North                               Phone: (206) 365-9632
Seattle, WA, 98133                        "Keep the smoke _inside_ the chip !"