Presentation | 2004/11/20 Analog CMOS Implementation of Coupled Neural Oscillators for Developing a Robot Locomotion Controller Kazuki NAKADA, Tetsuya ASAI, Yoshihito AMEMIYA, |
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Abstract(in Japanese) | (See Japanese page) |
Abstract(in English) | We propose an analog integrated circuit that mimics a biological mechanism in locomotion control of animals. Locomotion of animals, such as walking and running, is generated and controlled by, the central nervous system called as the central pattern generator (CPG). Recently, the CPG framework have been utilized to develop locomotion controllers for autonomous walking robots. However, these controllers have mostly been implemented with digital processors that can only process sequentially, and thus the computational load of such controllers are large in real-time execution. Hence, we propose integrated circuit implementation of a GPG controller that allows parallel computation essentially. We constructed a CPG model as coupled neural oscillators based on the neural oscillator model proposed by Matsuoka, and implemented it as an analog current-mode CPG ciurcuit that operates in the subthreshold region. By using SPICE, it is shown that the CPG circuit generates phase-locked oscillations and the amplitude and the frequency of the oscillation can be controlled by tuning bias currents over a wide range. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | Analog CMOS circuit / Current-mode operation / CPG / Coupled neural oscillators / Locomotion |
Paper # | NLP2004-76,NC2004-92 |
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Committee | NC |
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Conference Date | 2004/11/20(1days) |
Place (in Japanese) | (See Japanese page) |
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Registration To | Neurocomputing (NC) |
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Language | JPN |
Title (in Japanese) | (See Japanese page) |
Sub Title (in Japanese) | (See Japanese page) |
Title (in English) | Analog CMOS Implementation of Coupled Neural Oscillators for Developing a Robot Locomotion Controller |
Sub Title (in English) | |
Keyword(1) | Analog CMOS circuit |
Keyword(2) | Current-mode operation |
Keyword(3) | CPG |
Keyword(4) | Coupled neural oscillators |
Keyword(5) | Locomotion |
1st Author's Name | Kazuki NAKADA |
1st Author's Affiliation | Department of Electrical Engineering, Hokkaido University() |
2nd Author's Name | Tetsuya ASAI |
2nd Author's Affiliation | Department of Electrical Engineering, Hokkaido University |
3rd Author's Name | Yoshihito AMEMIYA |
3rd Author's Affiliation | Department of Electrical Engineering, Hokkaido University |
Date | 2004/11/20 |
Paper # | NLP2004-76,NC2004-92 |
Volume (vol) | vol.104 |
Number (no) | 474 |
Page | pp.pp.- |
#Pages | 6 |
Date of Issue |