Neuromorphic Closed-Loop Control of a Flexible Modular Robot by a Simulated Spiking Central Pattern Generator

被引:0
作者
Spaeth, Alex [1 ,3 ]
Tebyani, Maryam [1 ]
Haussler, David [2 ,3 ]
Teodorescu, Mircea [1 ,3 ]
机构
[1] Univ Calif Santa Cruz, Dept Elect & Comp Engn, Santa Cruz, CA 95064 USA
[2] Univ Calif Santa Cruz, Howard Hughes Med Inst, Santa Cruz, CA 95064 USA
[3] Univ Calif Santa Cruz, Gen Inst, Santa Cruz, CA 95064 USA
来源
2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) | 2020年
关键词
flexible robot; modular robot; CPG; SCPG; biomimetic control; Izhikevich neuron; CPG; WALKING; SIGNALS;
D O I
10.1109/robosoft48309.2020.9116007
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
We propose a minimal yet highly biomimetic hierarchical controller based on a neuromorphic spiking central pattern generator (CPG) consisting of twelve simulated neurons modulated by sensory feedback. The robotic application of this controller is a flexible modular robot which uses DC linear actuators to morph its structure and achieve a crawling gait. It was shown in previous work that different gaits can be achieved by altering the number and physical location of structural modules. The proposed controller enables a modular style of controller design as well. Additional behaviors, or adaption of the controller to a different flexible robotic configuration, can be achieved by additional independent "neural modules" consisting of spiking neurons.
引用
收藏
页码:46 / 51
页数:6
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