• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Neural Networks and Learning Systems, IEEE Transactions on >Neuromorphic Control of Stepping Pattern Generation: A Dynamic Model With Analog Circuit Implementation
【24h】

Neuromorphic Control of Stepping Pattern Generation: A Dynamic Model With Analog Circuit Implementation

机译：步进模式生成的神经形态控制：具有模拟电路实现的动态模型

获取原文
获取原文并翻译 | 示例
       
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Animals such as stick insects can adaptively walk on complex terrains by dynamically adjusting their stepping motion patterns. Inspired by the coupled Matsuoka and resonate-and-fire neuron models, we present a nonlinear oscillation model as the neuromorphic central pattern generator (CPG) for rhythmic stepping pattern generation. This dynamic model can also be used to actuate the motoneurons on a leg joint with adjustable driving frequencies and duty cycles by changing a few of the model parameters while operating such that different stepping patterns can be generated. A novel mixed-signal integrated circuit design of this dynamic model is subsequently implemented, which, although simplified, shares the equivalent output performance in terms of the adjustable frequency and duty cycle. Three identical CPG models being used to drive three joints can make an arthropod leg of three degrees of freedom. With appropriate initial circuit parameter settings, and thus suitable phase lags among joints, the leg is expected to walk on a complex terrain with adaptive steps. The adaptation is associated with the circuit parameters mediated both by the higher level nervous system and the lower level sensory signals. The model is realized using a 0.3-${mu}{rm m}$ complementary metal-oxide-semiconductor process and the results are reported.
机译：诸如棒虫之类的动物可以通过动态调整其步进运动模式来适应性地在复杂的地形上行走。受松冈和共振与发射神经元模型耦合的启发，我们提出了一种非线性振荡模型，作为有节奏的步进模式生成的神经形态中央模式发生器（CPG）。通过在运行时改变一些模型参数，该动态模型还可以用于通过可调的驱动频率和占空比来激活腿关节上的运动神经元，从而可以生成不同的步进模式。随后实现了该动态模型的新颖混合信号集成电路设计，尽管简化了该设计，但在可调频率和占空比方面具有同等的输出性能。用于驱动三个关节的三个相同的CPG模型可以使节肢动物的腿具有三个自由度。通过适当的初始电路参数设置，从而在各关节之间具有适当的相位滞后，可以预期该腿以自适应的步幅在复杂的地形上行走。适应与由较高水平的神经系统和较低水平的感觉信号介导的电路参数有关。该模型使用0.3-$ {mu} {rm m} $互补金属氧化物半导体工艺实现，并报告了结果。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号