A novel hardware-efficient CPG model based on asynchronous cellular automaton

Takeda, Kentaro; Torikai, Hiroyuki

doi:10.1587/elex.15.20180387

Cited by 12 publications

(5 citation statements)

References 11 publications

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“…• 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 aims at presenting a novel asynchronous CA model of the CPG that consumes fewer circuit elements and lower power than a conventional digital processor CPG model.…”

Section: Introductionmentioning

confidence: 99%

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

Takeda

Torikai

2020

IEEE Access

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This paper presents a novel hardware-efficient central pattern generator (CPG) model to realize a bio-inspired gait of a hexapod robot. The CPG model consists of a network of cellular automaton (CA) oscillators; thus, it can be implemented as a network of sequential logic circuits. Detailed analyses of nonlinear oscillation dynamics show that the oscillator that is driven by multiple asynchronous clocks is more suitable to realize the gait of the robot than an oscillator that is driven by a single clock or multiple synchronous clocks. Moreover, detailed analyses of nonlinear network dynamics show that the clocks among the CA oscillators should be asynchronous to appropriately realize the gait. Using the analyses, systematic procedures to design the CPG model are proposed. The proposed CPG model is implemented in a field programmable gate array (FPGA); our experiments validate that the CPG model implemented in an FPGA can realize the bio-inspired gait of a hardware robot. Further, we show that the proposed CPG model utilizes fewer circuit elements and lower power than a conventional CPG model. INDEX TERMS Asynchronous Cellular Automaton. Central Pattern Generator (CPG). Field Programmable Gate Array (FPGA). Hexapod Robot. Nonlinear dynamics. Synchronization.

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Section: Introductionmentioning

confidence: 99%

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

Takeda

Torikai

2020

IEEE Access

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“…It goes without saying that most conventional modeling and implementation methods of neuromorphic circuits have been based on the first, the second, and the third methods [18][19][20][21][22][23][24][25][26][27][28][29][30]. On the other hand, our group and a few other groups have designed neuromorphic circuits based on the fourth method [31][32][33][34][35][36][37][38].…”

Section: Introductionmentioning

confidence: 97%

A novel ergodic discrete difference equation multi-compartment neuron model: various dendritic phenomena and on-chip differential conditioning

Takeda,

Ishikawa,

Torikai

2024

NOLTA

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A novel membrane potential model whose nonlinear dynamics is described by an ergodic discrete difference equation is presented. It is shown that the model can exhibit various neuron-like behaviors depending on parameter values. Using the ergodic membrane potential model, a novel multi-compartment neuron model (soma-dendrite-synapse model) is presented. It is shown that the model can exhibit various dendritic phenomena depending on parameter values. Based on detailed analyses of the dendritic phenomena, a design procedure of the multi-compartment neuron model to realize conditioning functions is proposed. Furthermore, the neuron model is implemented by a field programmable gate array and experiments validate its conditioning functions. It is then shown that the proposed neuron model consumes much fewer hardware resources and much lower power than a typical conventional multi-compartment neuron model.

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“…CPGs have been mostly modeled by coupled nonlinear oscillators utilizing their synchronization and stability properties, for example, spiking neurons [3][4][5], Van der Pol oscillators [6][7][8], Hopf oscillators [9][10][11], and Kuramoto oscillators [12][13][14]. These models have been applied to gait generation for various types of bio-inspired robots and clinical prosthetic devices [15][16][17][18][19][20][21]. In such models, since one synchronization pattern corresponds to one gait pattern of legged animals, it is required to synchronize from any transient state to a desired pattern (Fig.…”

Section: Introductionmentioning

confidence: 99%

Analysis of pattern generation in non-periodic clock-driven unidirectionally coupled phase oscillators in a ring

Takeda

2023

IEICE Electron. Express

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Unidirectionally coupled phase oscillators in a ring are simple structures but unsuitable for application in central pattern generators (CPGs) for six-legged walking due to coexisting stable synchronization patterns. This paper shows that the coupled oscillators can be applied to a CPG by utilizing a non-periodic signal generator as a clock. The nonperiodic clock-driven coupled oscillators are implemented by a sequential logic circuit using a field programmable gate array (FPGA) and a nonlinear analog circuit. A laboratory experiment confirms that a hexapod robot mounting the implemented circuits can realize six-legged walking.

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A novel hardware-efficient CPG model based on asynchronous cellular automaton

Cited by 12 publications

References 11 publications

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

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

A novel ergodic discrete difference equation multi-compartment neuron model: various dendritic phenomena and on-chip differential conditioning

Analysis of pattern generation in non-periodic clock-driven unidirectionally coupled phase oscillators in a ring

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