Biomimetic CPGs for robotic applications
Résumé
Locomotion is one of the most basic abilities of animals. Neurobiologists have established that locomotion results from the activity of half-center oscillators that provides alternating bursts. Most rhythmic movements are programmed by central pattern-generating (CPG) networks consisting of neural oscillators. A biomimetic system mimics the nature for simulating the living behavior and/or replaces it (rebuilding the living part). We propose a network of hundreds biomimetic CPGs using biomimetic neuron model and synapses. This network is implemented in an FPGA (Field Programmable Gate Array). This article is decomposed into two parts: the description, the implementation and results of the biomimetic network of CPGs, and the architecture and advantages of robots including our biomimetic CPGs.
Domaines
Ingénierie biomédicale| Origine | Fichiers produits par l'(les) auteur(s) |
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