AER-based robotic closed-loop control system

被引：12

作者：

Jimenez-Fernandez, A. ^{[1
]}

Paz-Vicente, R. ^{[1
]}

Rivas, A. ^{[1
]}

Linares-Barranco, A. ^{[1
]}

Jimenez, G. ^{[1
]}

Civit, A. ^{[1
]}

机构：

[1] Univ Seville, E-41012 Seville, Spain

来源：

PROCEEDINGS OF 2008 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-10 | 2008年

关键词：

D O I：

10.1109/ISCAS.2008.4541600

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Address-Event-Representation (AER) is an asynchronous protocol for transferring the information of spiking neuro-inspired systems. Actually AER systems are able to see, to ear, to process information, and to learn. Regarding to the actuation step, the AER has been used for implementing Central Pattern Generator algorithms, but not for controlling the actuators in a closed-loop spike-based way. In this paper we analyze an AER based model for a real-time neuro-inspired closed-loop control system. We demonstrate it into a differential control system for a two-wheel vehicle using feedback AER information. PFM modulation has been used to power the DC motors of the vehicle and translation into AER of encoder information is also presented for the close-loop. A codesign platform (called AER-Robot), based into a Xilinx Spartan 3 FPGA and an 8051 USB microcontroller, with power stages for four DC motors has been used for the demonstrator.

引用

页码：1044 / 1047

页数：4

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