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IC implementation of an interstitial cell-based CPG model

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Abstract

It is well known that quadruped locomotion patterns are generated by central pattern generators (CPGs) residing within central nervous system interstitial cells. Based on this fact, many investigators have used CPG models to develop control adaptations in robots. Previously, the authors proposed a CPG model that generates and controls quadruped locomotion through single-pulse external inputs. However, in this model, a large capacitance was necessary for generating 1–10 Hz robot control patterns. In this paper, we suggest a CPG model in which swing and stance patterns produced by interstitial cells generate low-frequency patterns through a low-capacitance 0.18 μm CMOS process. It is demonstrated that this model method can generate five basic quadruped locomotion patterns (walk, pace, trot, bound, and gallop) at a frequency suitable for controlling a quadruped locomotion robot.

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Acknowledgments

This work has been supported in part by the MEXT Grant-in-Aid #25420344 and STARC. Furthermore, this work has been supported in part by the VLSI Design and Education Center (VDEC), the University of Tokyo in collaboration with Cadence Design Systems, Inc.

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Authors and Affiliations

  1. College of Science and Technology, Nihon University, 7-24-1 Narashinodai, Funabashi, Chiba, 274-8501, Japan

    Katsutoshi Saeki, Daisuke Nihei, Tatsuya Tatebe & Yoshifumi Sekine

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  1. Katsutoshi Saeki
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  2. Daisuke Nihei
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  3. Tatsuya Tatebe
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  4. Yoshifumi Sekine
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Correspondence to Katsutoshi Saeki.

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Saeki, K., Nihei, D., Tatebe, T. et al. IC implementation of an interstitial cell-based CPG model. Analog Integr Circ Sig Process 81, 551–559 (2014). https://doi.org/10.1007/s10470-014-0349-2

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  • DOI: https://doi.org/10.1007/s10470-014-0349-2

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