Low power CMOS electronic central pattern generator design for a biomimetic underwater robot

Young Jun Lee, Jihyun Lee, Kyung Ki Kim, Yong-Bin Kim, Joseph Ayers
2007 Neurocomputing  
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 walking
more » ... tor program and allows switching between walking in different directions in response to different command inputs. The simulated power consumption is 4.8mW and die size including I/O pads is 2.2mm by 2.2mm. Simulation results demonstrate that the proposed design can generate adaptive walking motor programs to control the legs of autonomous robots.
doi:10.1016/j.neucom.2006.12.013 fatcat:xljixd5wpzgrtbj3gd7bwqxhjm