An analog CMOS central pattern generator for interlimb coordination in quadruped locomotion
スポンサーリンク
概要
- 論文の詳細を見る
This paper proposes a neuromorphic analog CMOS controller for interlimb coordination in quadruped locomotion. Animal locomotion, such as walking, running, swimming, and flying, is based on periodic rhythmic movements. These rhythmic movements are driven by the biological neural network, called the central pattern generator (CPG). In recent years, many researchers have applied CPG to locomotion controllers in robotics. However, most of these have been developed with digital processors and, thus, have several problems, such as high power consumption. In order to overcome such problems, a CPG controller with analog CMOS circuit is proposed. Since the CMOS transistors in the circuit operate in their subthreshold region and under low supply voltage, the controller can reduce power consumption. Moreover, low-cost production and miniaturization of controllers are expected. We have shown through computer simulation, such circuit has the capability to generate several periodic rhythmic patterns and transitions between their patterns promptly.
- Institute of Electrical and Electronics Engineersの論文
Institute of Electrical and Electronics Engineers | 論文
- Ambipolar Coulomb Blockade Characteristics in a Two-Dimensional Si Multidot Device
- Achieving efficiency and portability in systems software: a case study on POSIX-compliant multithreaded programs
- Generalized Wigner-Yanase skew information and generalized Fisher information
- A generalized skew information and uncertainty relation
- Simultaneous Imaging of Artery-Wall Strain and Blood Flow by High Frame Rate Acquisition of RF Signals