Name
Title | ||
|---|---|---|
Neuromorphic Closed-Loop Control of a Flexible Modular Robot by a Simulated Spiking Central Pattern Generator |
Abstract | ||
|---|---|---|
We propose a minimal yet highly biomimetic hierarchical controller based on a neuromorphic spiking central pattern generator (CPG) consisting of twelve simulated neurons modulated by sensory feedback. The robotic application of this controller is a flexible modular robot which uses DC linear actuators to morph its structure and achieve a crawling gait. It was shown in previous work that different gaits can be achieved by altering the number and physical location of structural modules. The proposed controller enables a modular style of controller design as well. Additional behaviors, or adaption of the controller to a different flexible robotic configuration, can be achieved by additional independent “neural modules” consisting of spiking neurons. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/RoboSoft48309.2020.9116007 | 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft) |
Keywords | DocType | ISBN |
flexible robot,modular robot,CPG,SCPG,biomimetic control,Izhikevich neuron | Conference | 978-1-7281-6571-4 |
Citations | PageRank | References |
0 | 0.34 | 9 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alex Spaeth | 1 | 0 | 0.34 |
| Maryam Tebyani | 2 | 0 | 0.68 |
| David Haussler | 3 | 0 | 0.34 |
| Mircea Teodorescu | 4 | 7 | 6.63 |