Proceedings Article10.1109/ISCAS.2005.1465534
A spiking silicon central pattern generator with floating gate synapses [robot control applications]
Francesco Tenore,R.J. Vogelstein,Ralph Etienne-Cummings,Gert Cauwenberghs,M.A. Lewis,P. Hasler +5 more
- 23 May 2005
- pp 4106-4109
TL;DR: The patterns generated by these circuits are shown to be sufficient to control a biped robot with a variety of different locomotory gaits and to show how elaborate and biologically-plausible CPG networks can be implemented by controlling synaptic weights.
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Abstract: A programmable array of silicon neurons for the creation of central pattern generator (CPG) networks is described The design consists of 20 integrate-and-fire neurons, each with multiple synaptic inputs and tunable spike frequency adaptation circuitry The synapse area is reduced by 80% relative to our previously fabricated chip by using floating gate transconductance amplifiers in place of current DACs In addition to describing the design of the silicon neurons and synapses, we present results illustrating performance characteristics of the circuits and show how elaborate and biologically-plausible CPG networks can be implemented by controlling synaptic weights The patterns generated by these circuits are shown to be sufficient to control a biped robot with a variety of different locomotory gaits
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•Posted Content
A Survey of Neuromorphic Computing and Neural Networks in Hardware.
Catherine D. Schuman,Thomas E. Potok,Robert M. Patton,J. Douglas Birdwell,Mark Edward Dean,Garrett S. Rose,James S. Plank +6 more
TL;DR: An exhaustive review of the research conducted in neuromorphic computing since the inception of the term is provided to motivate further work by illuminating gaps in the field where new research is needed.
686
Survey of locomotion control of legged robots inspired by biological concept
TL;DR: The biological mechanism, the existence evidences, and the network properties of CPG, Inspired by central pattern generator (CPG), a control method has been proved to be a successful attempt within this scope.
Programmable coupled oscillators for synchronized locomotion.
Sourav Dutta,Abhinav Parihar,A. Khanna,Jorge Gomez,Wriddhi Chakraborty,Matthew Jerry,Benjamin Grisafe,Arijit Raychowdhury,Suman Datta +8 more
TL;DR: The authors exploit the synchronization dynamics of coupled vanadium dioxide-based insulator-to-metal phase-transition nano-oscillators for adaptive locomotion control and simplify on-chip implementation and real-time tunability by reducing the number of control parameters.
A field programmable neural array
E. Farquhar,C. Gordon,Paul Hasler +2 more
- 21 May 2006
TL;DR: An analog circuit capable of accurately emulating large complex cells, or multiple less complex ones is described, termed the FPNA or the field programmable neural array, which is composed of biologically relevant circuit components including active channels, dendrites, and synapses.
48
A floating-gate programmable array of silicon neurons for central pattern generating networks
Francesco Tenore,R.J. Vogelstein,Ralph Etienne-Cummings,Gert Cauwenberghs,P. Hasler +4 more
- 21 May 2006
TL;DR: A new central pattern generator chip with 24 silicon neurons and reprogrammable connectivity is presented, enabling construction of a fully-interconnected network with sensory feedback from off-chip elements.
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