Name
Title | ||
|---|---|---|
Low power CMOS electronic central pattern generator design for a biomimetic underwater robot |
Abstract | ||
|---|---|---|
This paper presents a feasibility study of a central pattern generator-based analog controller for an autonomous robot. The operation of a neuronal circuit formed of electronic neurons based on Hindmarsh-Rose neuron dynamics and first order chemical synapses is modeled. The controller is based on a standard 0.25@mm CMOS process with 2V supply voltage. In order to achieve low power consumption, CMOS subthreshold circuit techniques are used. The controller generates an excellent replica of the walking motor program and allows switching between walking in different directions in response to different command inputs. The simulated power consumption is 4.8mW and die size including I/O pads is 2.2mm by 2.2mm. Simulation results demonstrate that the proposed design can generate adaptive walking motor programs to control the legs of autonomous robots. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1016/j.neucom.2006.12.013 | Neurocomputing |
Keywords | Field | DocType |
index terms— subthreshold operation,neuronal oscillator circuit,subthreshold operation,generator-based analog controller,different command input,low power consumption,electronic synapse circuit,walking motor program,central pattern gen- erator,autonomous robot,electronic neuron circuit,adaptive walking motor program,different direction,central pattern generator,neuronal circuit,cmos electronic central pattern,biomimetic underwater robot,neu- ronal oscillator circuit,generator design,mm cmos process,cmos subthreshold circuit technique,first order,oscillations,indexing terms | Subthreshold conduction,Artificial intelligence,Central pattern generator,Replica,Control theory,Pattern recognition,Simulation,Voltage,CMOS,Robot,Autonomous robot,Mathematics,Embedded system | Journal |
Volume | Issue | ISSN |
71 | 1-3 | Neurocomputing |
Citations | PageRank | References |
13 | 1.01 | 4 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Young-jun Lee | 1 | 36 | 4.58 |
| Jihyun Lee | 2 | 195 | 28.17 |
| Kyung Ki Kim | 3 | 99 | 21.62 |
| Yong-Bin Kim | 4 | 22 | 7.14 |
| Joseph Ayers | 5 | 33 | 5.17 |