Robot-resident neural networks: A step beyond computer simulation

A simple, commercially available robot platform is presented in this paper with suggested modifications for adding a neural network controller and a better sensory system. The robot, called HexWalker, is a six-legged, servo-driven, battery-powered platform. We found this platform easy to modify with both hardware and software changes. The software changes can be programmed from a standard PC and downloaded into the EEROMS of the robot. This robot provides a tangible model of sensory/motor integration which is useful in both teaching and research.