Oscillating Infinite State Machines

In May of 2005, we began discussing spiking neurons and computational chaos on the Yahoo! Beam group. Tom Jenner brought something entirely new to the discussion: OISM.

Pronounced, /oiy sim/, an OISM neuron is an Oscillating Infinite State Machine. The OISM encodes information in the “frequency, phase, amplitude and/or DC offset” of the oscillation. Combine several OISMs into a network and you get a system that “can act periodicly, quasiperiodic or chaotically without input.”

Tom Jenner has been developing this idea for some time. The OISM is patent-pending and was covered in Servo Magazine, June 2004. Of course, this is all entirely new to me. Thankfully, Tom has recommended some books. So, while I study, you can enjoy the videos!

Two Servo Quadruped

Book climbing from behind (2 MB), and from the side (1 MB).

Phototaxis (4 MB). Demonstrates how well the OISM Net is at seeking light. Pay particular attention to the end of the video. The walker adjusts its gait after making it thru the light pool.

Phototaxis on carpeting (4 MB). Walker treks over carpeting until reaching the light pool.

Phototaxis interrupted by obstacle (8 MB), and from the side (10 MB). A Dremel case prevents the walker from reaching the light. The touch sensor changes the phasing between the front and rear OISMs, causing changes in gait and behavior. Tom Jenner described this walker in some detail ("OISM Servo Walker Videos", 17 May 2005).

Eight Servo Quadruped

Walking mechanics (7 MB) and adjustment (10 MB). The walker is on a stand, showing the mechanics close-up. In the second video, Tom Jenner adjusts the amplitude of the OISMs to vary the gait.

Walking forward (4 MB). Forward motion occurs when the OISM neurons phase lock. This is a 34 transistor Net without any ICs.

Chaotic motion (11 MB). The OISM Net becomes chaotic, resulting in a back-and-forth scoot across the floor.

Turning in place (37 MB). With further adjustment, the OISM Net can turn the walker in place.

Phototaxis (3 MB). The front legs react to the light, resulting in positive phototaxis. The OISM Net weighs in at 34 NPN transistors. (Courtesy of Servo Magazine).

Obstacle avoidance in an 8-servo walker (2 MB). The OISM uses IR sensors to detect and avoid obstacles. (Courtesy of Servo Magazine).

Crawling Robots

Inchworm motion (2 MB). OISM net creates an inchworm gait in a three servo device.

Sidewinder motion (3 MB). Three servos again, this time configured for a sidewinder gait.

Refined Sidewinder (2 MB). This video demonstrates a more refined sidewinder. The robot executes a sharp right turn about midway thru the video.

Various Other Motions

2-DOF Flower Tracks Ball (2 MB). This flower "head" device tracks a white ball, repeatedly batting it away. Uses gearmotors from Solarbotics modified into servos. Tom Jenner discussed the circuit on the Yahoo! group ("My first head design: input please", 8 Jun 2005).

Three jointed device configured to mimic a sea snake (24 MB) and a flapping wing. (24 MB).

Prototype biped (2 MB). Three servo motors and corresponding OISM neurons configured as a human-type leg.

Hopper (1 MB). What do you get when you cross two cans of Forester's with three servos? A beer can hopper, of course.

More Information

For more information, join the Yahoo! Beam group and check out the recommended reading list. I am finding the books under Dynamical Systems, specifically those dealing with chaos, very useful in understanding this new approach.

J Wolfgang Goerlich
May 2005

Copyright Information

Copyright by and courtesy of New School Technology and/or Servo Magazine. Please contact Tom Jenner at New School Technology if you wish to distribute or mirror this content.

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