Low power CMOS electronic central pattern generator design for a biomimetic underwater robot

Lee, Young Jun; Lee, Ji‐Hyun; Kim, Kyung Ki; Kim, Yong-Bin; Ayers, Joseph

doi:10.1016/j.neucom.2006.12.013

Cited by 45 publications

(25 citation statements)

References 10 publications

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“…CPG is a proven fact which exists in animals and its task is to generate the rhythmic movements almost independent of central nervous system. There are a lot of CPG methods and different robotic application have been proposed by different authors (Lee et al, 2007;Loeb, 2001;Nakada, 2003). However, most of the time these CPGs are designed for a specific application and there are very few methodologies to modulate the shape of the rhythmic signals, in particular for on-line trajectory generation and the CPG internal parameters are usually tuned by trial and error methods.…”

Section: Biologically Inspired Methodsmentioning

confidence: 99%

“…Relatively few works have focused on adopting the hardware technology to fully practical embedded implementations. Examples of this adaptation using analog circuit are presented by (Kier et al, 2006;Lee et al, 2007;Lewis et al, 2001;Nakada, 2003). In the first one, Nakada et al present a neuromorphic analog CMOS controller for interlimb coordination in quadruped locomotion.…”

Section: Related Work Of Hardware Implementationsmentioning

confidence: 99%

See 1 more Smart Citation

CPG Implementations for Robot Locomotion: Analysis and Design

Barrón-Zambrano¹,

Torres-Huitzil²

2012

Robotic Systems - Applications, Control and Programming

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Section: Biologically Inspired Methodsmentioning

confidence: 99%

Section: Related Work Of Hardware Implementationsmentioning

confidence: 99%

CPG Implementations for Robot Locomotion: Analysis and Design

Barrón-Zambrano¹,

Torres-Huitzil²

2012

Robotic Systems - Applications, Control and Programming

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“…The slow bursting frequency requires large on-chip components. Therefore, time scaling is also required [8]. However, the scaling requires a compromise process since an aggressive time scaling may lose HR neuron's biologic meaning and cause too fast behavioral operation of a physical device.…”

Section: Scaling Of Hr Modelmentioning

confidence: 99%

Implementation of Excitatory CMOS Neuron Oscillator for Robot Motion Control Unit

Lu¹,

Yang²,

Kim³

et al. 2014

JSTS:Journal of Semiconductor Technology and Science

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Abstract-This paper presents an excitatory CMOS neuron oscillator circuit design, which can synchronize two neuron-bursting patterns. The excitatory CMOS neuron oscillator is composed of CMOS neurons and CMOS excitatory synapses. And the neurons and synapses are connected into a close loop. The CMOS neuron is based on the HindmarshRose (HR) neuron model and excitatory synapse is based on the chemical synapse model. In order to fabricate using a 0.18 um CMOS standard process technology with 1.8V compatible transistors, both time and amplitude scaling of HR neuron model is adopted. This full-chip integration minimizes the power consumption and circuit size, which is ideal for motion control unit of the proposed bio-mimetic micro-robot. The experimental results demonstrate that the proposed excitatory CMOS neuron oscillator performs the expected waveforms with scaled time and amplitude. The active silicon area of the fabricated chip is 1.1 mm 2 including I/O pads.

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“…We have constructed and simulated central pattern generators for walking based on Figure 2 from analog VLSI-based neurons and synapses (Lee YK et al 2007). A simulation of the operation of a neuronal circuit formed of electronic neurons based on Hindmarsh-Rose neuron dynamics and first order chemical synapses is modelled in Figure 7.…”

Section: Simulation Of Behavioural Control With the Hybrid Architecturementioning

confidence: 99%

Controlling Underwater Robots with Electronic Nervous Systems

Ayers

Rulkov

Knudsen

et al. 2010

Applied Bionics and Biomechanics

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We are developing robot controllers based on biomimetic design principles. The goal is to realise the adaptive capabilities of the animal models in natural environments. We report feasibility studies of a hybrid architecture that instantiates a command and coordinating level with computed discrete-time map-based (DTM) neuronal networks and the central pattern generators with analogue VLSI (Very Large Scale Integration) electronic neuron (aVLSI) networks. DTM networks are realised using neurons based on a 1-D or 2-D Map with two additional parameters that define silent, spiking and bursting regimes. Electronic neurons (ENs) based on Hindmarsh-Rose (HR) dynamics can be instantiated in analogue VLSI and exhibit similar behaviour to those based on discrete components. We have constructed locomotor central pattern generators (CPGs) with aVLSI networks that can be modulated to select different behaviours on the basis of selective command input. The two technologies can be fused by interfacing the signals from the DTM circuits directly to the aVLSI CPGs. Using DTMs, we have been able to simulate complex sensory fusion for rheotaxic behaviour based on both hydrodynamic and optical flow senses. We will illustrate aspects of controllers for ambulatory biomimetic robots. These studies indicate that it is feasible to fabricate an electronic nervous system controller integrating both aVLSI CPGs and layered DTM exteroceptive reflexes.

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Low power CMOS electronic central pattern generator design for a biomimetic underwater robot

Cited by 45 publications

References 10 publications

CPG Implementations for Robot Locomotion: Analysis and Design

CPG Implementations for Robot Locomotion: Analysis and Design

Implementation of Excitatory CMOS Neuron Oscillator for Robot Motion Control Unit

Controlling Underwater Robots with Electronic Nervous Systems

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