Paper Info
Title
Neuro-inspired spike-based motion: from dynamic vision sensor to robot motor open-loop control through spike-VITE.
Abstract
In this paper we present a complete spike-based architecture: from a Dynamic Vision Sensor (retina) to a stereo head robotic platform. The aim of this research is to reproduce intended movements performed by humans taking into account as many features as possible from the biological point of view. This paper fills the gap between current spike silicon sensors and robotic actuators by applying a spike processing strategy to the data flows in real time. The architecture is divided into layers: the retina, visual information processing, the trajectory generator layer which uses a neuroinspired algorithm (SVITE) that can be replicated into as many times as DoF the robot has; and finally the actuation layer to supply the spikes to the robot (using PFM). All the layers do their tasks in a spike-processing mode, and they communicate each other through the neuro-inspired AER protocol. The open-loop controller is implemented on FPGA using AER interfaces developed by RTC Lab. Experimental results reveal the viability of this spike-based controller. Two main advantages are: low hardware resources (2% of a Xilinx Spartan 6) and power requirements (3.4 W) to control a robot with a high number of DoF (up to 100 for a Xilinx Spartan 6). It also evidences the suitable use of AER as a communication protocol between processing and actuation.
Year
DOI
Venue
2013
10.3390/s131115805
SENSORS
Keywords
DocType
Volume
spike systems,motor control,VITE,address event representation,neuro-inspired,neuromorphic engineering,anthropomorphic robots
Journal
13
Issue
ISSN
Citations 
11
1424-8220
16
PageRank 
References 
Authors
0.86
15
7
Name
Order
Citations
PageRank
Fernando Perez-Peña1160.86
A. Morgado Estévez2161.20
A. Linares-Barranco3676.58
Angel Jimenez-Fernandez4371.92
F. Gomez-rodriguez532725.16
Gabriel Jimenez-Moreno6371.92
Juan Lopez-Coronado7160.86