Using FPGA for visuo-motor control with a silicon retina and a humanoid robot

被引：20

作者：

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

Gomez-Rodriguez, F. ^{[1
]}

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

Delbrueck, T. ^{[2
]}

Lichtensteiner, P. ^{[2
]}

机构：

[1] Univ Seville, Av Reina Mercedes S-N, E-41012 Seville, Spain

[2] UNI ETH Zurich, Inst Neuroinformat, Zurich, Switzerland

来源：

2007 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-11 | 2007年

关键词：

D O I：

10.1109/ISCAS.2007.378265

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The address-event representation (AER) is a neuromorphic communication protocol for transferring asynchronous events between VLSI chips. The event information is transferred using a high speed digital parallel bus. This paper present an experiment based on AER for visual sensing, processing and finally actuating a robot. The AER output of a silicon retina is processed by an AER filter implemented into a FPGA to produce a mimicking behaviour in a humanoid robot (The RoboSapiens V2). We have implemented the visual filter into the Spartan II FPGA of the USB-AER platform and the Central Pattern Generator (CPG) into the Spartan 3 FPGA of the AER-Robot platform, both developed by authors.

引用

页码：1192 / +

页数：2