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An analog CMOS chip implementing a CNN-based locomotion controller for quadruped walking robots

K. Nakada, T. Asai, Y. Amemiya
2004 IEEE International Symposium on Circuits and Systems (IEEE Cat. No.04CH37512)  
We propose an analog CMOS circuit that implements a class of cellular neural networks (CNNs) for locomotion control in robotics.  ...  Furthermore, we fabricated a prototype chip using a standard CMOS process.  ...  In the present paper, we propose an analog CMOS chip that implements a class of CNN for locomotion control in quadruped walking robots.  ... 
doi:10.1109/iscas.2004.1328668 dblp:conf/iscas/NakadaAA04 fatcat:dtldsj4xxnejtmwstp34mvfc7a

Analog CMOS implementation of a CNN-based locomotion controller with floating-gate devices

K. Nakada, T. Asai, Y. Amemiya
2005 IEEE Transactions on Circuits and Systems I Fundamental Theory and Applications  
This paper proposes an analog CMOS circuit that implements a central pattern generator (CPG) for locomotion control in a quadruped walking robot.  ...  Due to good matching accuracy of devices, the circuit generates stable rhythmic patterns for robot locomotion control.  ...  SUMMARY We have presented analog CMOS implementation of a CNN-based CPG model for locomotion control in a quadruped walking robot.  ... 
doi:10.1109/tcsi.2005.849120 fatcat:4n5bw3evwvem3dpeac7ct7fmni

CPG Implementations for Robot Locomotion: Analysis and Design [chapter]

Jose Hugo, Cesar Torres-Huitzil
2012 Robotic Systems - Applications, Control and Programming  
For those reasons, section 7 presents a hardware implementation for quadruped locomotion control based on FPGA.  ...  CPGs have been proposed as a mechanism to generate an efficient control strategy for legged robots based on biological locomotion principles.  ...  In the first one, Nakada et al present a neuromorphic analog CMOS controller for interlimb coordination in quadruped locomotion. Authors propose a CPG controller with analog CMOS circuits.  ... 
doi:10.5772/25827 fatcat:lgh2awlpc5d6hg7d4sxvgkd4xa

Theta phase coding in a network model of the entorhinal cortex layer II with entorhinal-hippocampal loop connections

Jun Igarashi, Hatsuo Hayashi, Katsumi Tateno
2006 Cognitive Neurodynamics  
To move to another floor, a mobile robot should recognize various objects related to an elevator, e.g., elevator control, call buttons, and LED displays.  ...  Abstract In this paper, we address object recognition for a mobile robot which is deployed in a multistory building.  ...  CONCLUSION We designed an element circuit for implementing PLL neural networks using the pulse-modulation approach. We verified the fundamental operation of two coupled element circuits with HSPICE.  ... 
doi:10.1007/s11571-006-9003-8 pmid:19003510 pmcid:PMC2267667 fatcat:avihqfr6a5e7tm43lythi27n3a