A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE

被引：0

作者：

Perez-Pena, Fernando ^{[1
]}

Morgado-Estevez, Arturo ^{[1
]}

Linares-Barranco, Alejandro ^{[2
]}

Jimenez-Fernandez, Angel ^{[2
]}

Lopez-Coronado, Juan ^{[3
]}

Luis Munoz-Lozano, Jose ^{[3
]}

机构：

[1] Univ Cadiz, Appl Robot Res Lab, Cadiz, Spain

[2] Univ Seville, Robot & Technol Comp Lab, Seville, Spain

[3] Univ Polytech Cartagena, Automat & Syst Engn Dept, Cartagena, Spain

来源：

ADVANCES IN COMPUTATIONAL INTELLIGENCE, PT I | 2013年 / 7902卷

关键词：

Spike systems; Motor control; VITE; Address Event Representation; Neuro-inspired; Neuromorphic engineering; Anthropomorphic robots; ARM MOVEMENTS; INTERFACE; RETINA;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a spike-based control system applied to a fixed robotic platform. Our aim is to take a step forward to a future complete spikes processing architecture, from vision to direct motor actuation. This paper covers the processing and actuation layer over an anthropomorphic robot. In this way, the processing layer uses the neuro-inspired VITE algorithm, for reaching a target, based on PFM taking advantage of spike system information: its frequency. Thus, all the blocks of the system are based on spikes. Each layer is implemented within a FPGA board and spikes communication is codified under the AER protocol. The results show an accurate behavior of the robotic platform with 6-bit resolution for a 130 degrees range per joint, and an automatic speed control of the algorithm. Up to 96 motor controllers could be integrated in the same FPGA, allowing the positioning and object grasping by more complex anthropomorphic robots.

引用

页码：299 / +

页数：3

共 18 条

[1]

[Anonymous], 1991, THESIS

[2] Visual System Based on Artificial Retina for Motion Detection [J].