DocumentCode :
184725
Title :
An approach to motor control for spike-based neuromorphic robotics
Author :
Perez-Pena, Fernando ; Linares-Barranco, Alejandro ; Chicca, Elisabetta
Author_Institution :
Appl. Robot. Lab., Univ. of Cadiz, Cadiz, Spain
fYear :
2014
fDate :
22-24 Oct. 2014
Firstpage :
528
Lastpage :
531
Abstract :
This paper presents an approach to open-loop motor control using Integrate and Fire (IF) neurons. The controller aims at mimicking motor control structures found in the brain and consists of three neuron populations implemented on different VLSI chips. The first population codes the distance to the target in a form of a firing rate (similarly to some class of cells found in Area 4 in the motor mammalian cortex). The second population mimics the behavior of neurons of the basal ganglia and control the gating and speed of the movement, by means of an NMDA synapse and an excitatory connection. The third population codes the supposed position reached by the robot. The multi-chip neuromorphic setup is interfaced with a Field-Programmable Gate Array (FPGA) board by the Address Event Representation (AER) communication protocol. The FPGA elongates the spike duration to make them suitable for driving the motors with Pulse Frequency Modulation (PFM). This approach aims to compete with classic controllers offering lower power, simplified control and smoother movements.
Keywords :
VLSI; bioelectric potentials; biomimetics; brain; cellular biophysics; controllers; field programmable gate arrays; lab-on-a-chip; medical robotics; neurophysiology; open loop systems; pulse frequency modulation; AER communication protocol; FPGA board; NMDA synapse; VLSI chips; address event representation; basal ganglia; brain; controllers; excitatory connection; field-programmable gate array board; integrate-and-fire neurons; motor mammalian cortex; multichip neuromorphic setup; open-loop motor control; pulse frequency modulation; spike-based neuromorphic robotics; Biological system modeling; Firing; Motor drives; Neurons; Robots; Sociology; Statistics; motor control; neuromorphic hardware; robotics; spikebased;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Circuits and Systems Conference (BioCAS), 2014 IEEE
Conference_Location :
Lausanne
Type :
conf
DOI :
10.1109/BioCAS.2014.6981779
Filename :
6981779
Link To Document :
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