Sensor-driven neuromorphic walking leg control

Zhijun Yang, Juan (Annie) Huo, Hugo Monteiro, Alan Murray

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

We present a simple neuromorphic central pattern generators (CPG) circuit module, which is essentially a pair of coupled oscillators, to actuate a joint on a leg. This novel, reconfigurable CPG module is able to generate different motor patterns of different frequencies or duty cycles, simply by changing a few of circuit parameters. Three CPG modules, corresponding to three joints, can make an arthropod leg of three degrees of freedom (DOFs). With appropriate 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 by external commands or sensory signals. Simulation results for the circuitry, designed using a 0.35 mum process, are reported.
Original languageEnglish
Title of host publicationIEEE International Symposium on Circuits and Systems, 2009. (ISCAS 2009)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages4
ISBN (Print)978-1-4244-3827-3
Publication statusPublished - May 2009
Event2009 IEEE International Symposium on Circuits and Systems - ISCAS 2009 - Taipei, Taiwan
Duration: 24 May 200927 May 2009


Conference2009 IEEE International Symposium on Circuits and Systems - ISCAS 2009
CityTaipei, Taiwan


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