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This paper, presents a feasability study of a central pattern generator-based analog controller for an autonomous robot. The operation of a neuronal circuit formed of electronic neurons based on Hindmarsh-Rose neuron dynamics and first order chemical synapses ls modeled. The controller is based on a standard CMOS process with 2V supply voltage. In order to achieve low power consumption, CMOS subthreshold circuit techniques are used. The controller generates an excellent replica of the walkingdoi:10.1016/j.neucom.2006.12.013 fatcat:xljixd5wpzgrtbj3gd7bwqxhjm