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 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.
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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
Conference Date 2004/11/20(1days)
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Registration To Neurocomputing (NC)
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