An Analog CMOS Central Pattern Generatorfor Interlimb Coordination in Quadruped Locomotion  

Oleh:

Nakada, K. ; Asai, T. ; Amemiya, Y.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Neural Networks vol. 14 no. 5 (2003), page 1356-1365.
Topik: analog computer; analog; CMOS; central pattern; generator; coordination; quadruped locomotion

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II36.9 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

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.

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