Towards hardware Implementation of WTA for CPG-based control of a Spiking Robotic Arm

Autor:	Linares-Barranco, A., Pinero-Fuentes, E., Canas-Moreno, S., Rios-Navarro, A., Maryada, Wu, Chenxi, Zhao, Jingyue, Zendrikov, D., Indiveri, G.
Rok vydání:	2022
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	Biological nervous systems typically perform the control of numerous degrees of freedom for example in animal limbs. Neuromorphic engineers study these systems by emulating them in hardware for a deeper understanding and its possible application to solve complex problems in engineering and robotics. Central-Pattern-Generators (CPGs) are part of neuro-controllers, typically used at their last steps to produce rhythmic patterns for limbs movement. Different patterns and gaits typically compete through winner-take-all (WTA) circuits to produce the right movements. In this work we present a WTA circuit implemented in a Spiking-Neural-Network (SNN) processor to produce such patterns for controlling a robotic arm in real-time. The robot uses spike-based proportional-integrativederivative (SPID) controllers to keep a commanded joint position from the winner population of neurons of the WTA circuit. Experiments demonstrate the feasibility of robotic control with spiking circuits following brain-inspiration. Comment: 5 pages, 4 figures, submitted to ISCAS2022
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2202.07064 Zobrazit plný text záznamu View this record from Arxiv