A novel hardware-efficient CPG model for a hexapod robot based on nonlinear dynamics of coupled asynchronous cellular automaton oscillators

A Novel Hardware-Efficient Central Pattern Generator Model Based on Asynchronous Cellular Automaton Dynamics for Controlling Hexapod Robot

“…Our previously reported CPG model [33] is designed by the same design software environment used to design the proposed CPG model and is implemented by the same FPGA device used to implement the proposed CPG model. The differences between the previously reported and proposed CPG model are (a) the previous model has more clocks and flip-flops that do not play any important roles to realize the target phase-locking pattern, and (b) the previous model has more complicated network topology.…”

“…• Asynchronous CA CPG models [33] [34]. These studies have shown that class CTDS biomimetic models have many advantages, such as the following: (i) The models can be implemented by fewer circuit elements than the numerical integration models employed in digital processors [20]- [34], and (ii) They consume lower power than numerical integration models employed in digital processors [20]- [34].…”

“…Hence, this study can contribute to develop new nonlinear circuit theories -oscillation and synchronization theories of networks of asynchronous sequential logic circuits. • Although preliminary results of this study were presented in an IEEE flagship conference [33], to the best of our knowledge, this paper reports detailed analyses of a CA oscillator and its networks for the first time. These analyses reveal that the network in this study is better suited to be employed as a CPG than the previously reported network.…”

“…ComparisonsProposed CPG model Hopf CPG model[3] Proposed CPG model Previous CPG model[33] LUT represents look-up-table, FF represents flip-flop, and BRAM represents block random access memory. For comparison, each model is implemented by the same design software environment and same FPGA device used to implement the proposed model.…”

Smooth gait transition in hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators

“…This is an asynchronous cellular automaton (CA) model of a bio-inspired system with a continuous (state transition) time and discrete states (CTDS). A class CTDS bio-inspired model can be generally implemented in an asynchronous sequential logic circuit, e.g., [20][21][22][23].…”