Hardware implementation of a CPG-based locomotion control for quadruped robots

Authors:
Jose Hugo Barron-Zambrano;Cesar Torres-Huitzil;Bernard Girau
Affiliations:
Information Technology Laboratory, CINVESTAV, Tamaulipas, Mexico;Information Technology Laboratory, CINVESTAV, Tamaulipas, Mexico;LORIA, INRIA, Vandoeuvre-les-Nancy Cedex, France
Venue:
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Year:
2010

Citing 4
Cited 0

Biologically Inspired Neural Controllers for Motor Control in a Quadruped Robot

IJCNN '00 Proceedings of the IEEE-INNS-ENNS International Joint Conference on Neural Networks (IJCNN'00)-Volume 6 - Volume 6
2008 Special Issue: Central pattern generators for locomotion control in animals and robots: A review

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Hardware/software codesign for embedded implementation of neural networks

ARC'07 Proceedings of the 3rd international conference on Reconfigurable computing: architectures, tools and applications
An adaptive, self-organizing dynamical system for hierarchical control of bio-inspired locomotion

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

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Abstract

This paper presents a hardware implementation of a controller to generate adaptive gait patterns for quadruped robots inspired by biological Central Pattern Generators (CPGs). The basic CPGs are modeled as non-linear oscillators which are connected one to each other through coupling parameters that can be modified for different gaits. The proposed implementation is based on an specific digital module for CPGs attached to a soft-core processor so as to provide an integrated and flexible embedded system. The system is implemented on a Field Programmable Gate Array (FPGA) device providing a compact and low power consumption solution for generating periodic rhythmic patterns in robot control applications. Experimental results show that the proposed implementation is able to generate suitable gait patterns, such as walking, trotting, and galloping.