Analog current-mode CMOS implementation of central pattern generator for robot locomotion

Proceedings of the International Joint Conference on Neural Networks

Volumn 1, Issue , 2005, Pages 639-644

  Nakada, Kazuki ^a   Asai, Tetsuya ^a   Hirose, Tetsuya ^a   Amemiya, Yoshihito ^a  

^a HOKKAIDO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ANALOG INTEGRATED CIRCUITS; CENTRAL PATTERN GENERATOR (CPG); POWER CONSUMPTION; ROBOT LOCOMOTION;

ANALOG COMPUTERS; CMOS INTEGRATED CIRCUITS; ELECTRIC CURRENTS; LOW PASS FILTERS; OSCILLATORS (ELECTRONIC); PATTERN RECOGNITION; TUNING;

ROBOTICS;

EID: 33745964867     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IJCNN.2005.1555906     Document Type: Conference Paper

References (21)

1. F Delcomyn, Foundations of Neurobiology, New York: W. H. Freeman and Co., 1997.
2. G. Brown, "On the nature of the fundamental activity of the nervous centers: together with an analysis of the conditioning of the rhythmic activity in progression, and a theory of the evolution of function in the nervous system," J. Physiol., vol. 48, pp. 18-46, 1914.
3. K. Matsuoka, "Sustained oscillations generated by mutually inhibiting neurons with adaptation." Biol. Cybern., vol. 52, pp. 367-376, 1983.
4. K. Matsuoka, "Mechanism of frequency and pattern control in the neural rhythm generators," Biol. Cybern., vol. 56, pp. 345-353, 1987.
5. G. Taga, Y. Yamaguchi and H. Shimizu, "Self-organaized control of bipedal locomotion by neural oscillators in unpredictable environment," Biol. Cybern., vol. 65, pp.147-159, 1991.
6. M. Wiiliamson, "Neural Control of Rhythmic Arm Movements" Neural Networks, special issue on neural control of movement, 1998.
7. H. Kimura, Y. Fukuoka. and K. Konaga, "Adaptive dynamic walking of a quadruped robot by using neural system model", ADVANCED ROBOTICS, vol. 15, no. 8, pp. 859-876, 2001.
8. S. Ryckebusch, J. M. Bower, C. A. Mead, "Modeling small oscillating biological, networks in analog VLSI," Adv. Neural Information processing Syst., vol. 1, pp. 384-393, 1989.
9. S. Still. and M. W. Tilden, "Controller for a four legged walking machine," in Neuromorphic Systems Engineering Silicon from Neurobiology, Eds: L. S. Smith and A. Hamilton, World Scientific: Singapore, pp. 138-148, 1998.
10. S. Still, B. Scholkopf, K. Hepp, R. J. Douglas, "Four-legged walking gait control using a neuromorphic chip interfaced to a support vector leaming algorithm", Adv. Neural Informnation processing Syst., vol. 13, pp. 741-747, 2001.
11. G. Patel, I. Holleman, S. DeWeerth, "Analog VLSI model of intersegmental cordination with nearest-neighbor coupling," Adv. Neural Information processing Syst., vol. 10, pp. 710-725, 1998.
12. M. A. Lewis, M. J. Harttmann, R. Etienne-Cummings, A. H. Cohen, "Control of a robot leg with an adaptive aVLSI CPG chip," Neurocomnputing, vol. 38-40, pp. 1409-1421, 2001.
13. F. Tenore, R. Etienne-Cummings, and M. A. Lewis, "A programmable array of silicon neurons for the control of legged locomotion," presented at the International Symposium on Circuits and Systems, Vancouver, 2004
14. K. Nakada, T. Asai, and Y. Amemiya, "An analog central pattern generator for interlimb coordination in quadruped locomotion," IEEE Trans. on Neural Networks. vol. 14, no. 5, pp. 1356-1365, 2003.
15. K. Nakada, T. Asai, and Y. Amemiya, "Analog CMOS implementation of a CNN-based locomotion controller with floating-gate devices," IEEE Trans. Circuits and Syst. -I, in press.
16. M. Branciforte, G. Di Bernardo, F. Doddo, L. Occhipinti, "Reaction-Diffusion CNN design for a new class of biologically- inspired processors in artificial locomotion applications", in Seventh International Conference on Microelectronics for Neural, Fuzzy and Bio-Inspired Systems, pp. 69-77, Granada, Spain, 1999.
17. P. Arena, S. Castorina, L. Fortuna, M. Frasca, M. Ruta, "A CNN chip for robot locomotion control", in Proc. IEEE Int. Symnp. Circuits Systems, vol. 3, May 2003, pp. 510-513.
18. J. Mulder, A. C. van der Woerd, W. A. Serdijn, H. M. van Roermund, "General current-mode analysis method for translinear filters," IEEE Tran. Circuits and Svst. -I, vol. 44, pp. 193-197, 1997.
19. A. McEwan and A. van Schaik "A silicon representation of the meddis inner hair cell model," in Proc. the ICSC Symnposia on Intelligent Systems and Application, paper 1544-078, 2000.
20. W. Germanovix, C. Toumazou, "Design of a micropower current-mode log-domain analog cochlear implant", IEEE Tran. Circuits and Svst. -II. Vol. 47, No. 10, pp. 1023-1026, 2000.
21. T. Serrano-Gotarredona and B. Linares-Barranco, "Log-domain implementation of complex dynamics reaction-diffusion neural networks", IEEE Trans. on Neural Networks, vol. 14, no. 5, pp. 1337-1355, 2003.