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

Authors:
Young Jun Lee;Jihyun Lee;Kyung Ki Kim;Yong-Bin Kim;Joseph Ayers
Affiliations:
Electrical and Computer Engineering Department, Northeastern University, Boston, MA, USA;Electrical and Computer Engineering Department, Northeastern University, Boston, MA, USA;Electrical and Computer Engineering Department, Northeastern University, Boston, MA, USA;Electrical and Computer Engineering Department, Northeastern University, Boston, MA, USA;Department of Biology, Northeastern University, Boston, MA, USA
Venue:
Neurocomputing
Year:
2007

Citing 2
Cited 2

Analog VLSI and neural systems

Analog VLSI and neural systems
Neurotechnology for Biomimetic Robots

Neurotechnology for Biomimetic Robots

2013 Special Issue: FPGA implementation of a configurable neuromorphic CPG-based locomotion controller

Neural Networks
Controlling underwater robots with electronic nervous systems

Applied Bionics and Biomechanics

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Abstract

This paper presents a feasibility 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 is modeled. The controller is based on a standard 0.25@mm 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 motor 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.