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ICRA
2000
IEEE

Toward Biomorphic Control Using Custom aVLSI CPG Chips

13 years 8 months ago
Toward Biomorphic Control Using Custom aVLSI CPG Chips
The locomotor controller for walking, running, swimming, and flying animals is based on a Central Pattern Generator (CPG). Models of CPGs as systems of coupled non-linear oscillators have been proposed and have been used for the control of robots. In this paper we describe the implementation of an adaptive CPG model in a compact, custom analog VLSI circuit. We demonstrate the function of the chip by controlling an underactuated, running robotic leg. This circuit has adaptive properties that allow it to tune its behavior based on sensory feedback. To our knowledge this is the first instance of an adaptive CPG chip. This approach supports the construction of extremely inexpensive, low power and compact controllers for walking, flying and swimming machines.
M. Anthony Lewis, Ralph Etienne-Cummings, Avis H.
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors M. Anthony Lewis, Ralph Etienne-Cummings, Avis H. Cohen, Mitra J. Hartmann
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