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A SpiNNaker Application: Design, Implementation and Validation of SCPGs

  • Brayan Cuevas-Arteaga
  • Juan Pedro Dominguez-MoralesEmail author
  • Horacio Rostro-Gonzalez
  • Andres Espinal
  • Angel F. Jimenez-Fernandez
  • Francisco Gomez-Rodriguez
  • Alejandro Linares-Barranco
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10305)

Abstract

In this paper, we present the numerical results of the implementation of a Spiking Central Pattern Generator (SCPG) on a SpiNNaker board. The SCPG is a network of current-based leaky integrate-and-fire (LIF) neurons, which generates periodic spike trains that correspond to different locomotion gaits (i.e. walk, trot, run). To generate such patterns, the SCPG has been configured with different topologies, and its parameters have been experimentally estimated. To validate our designs, we have implemented them on the SpiNNaker board using PyNN and we have embedded it on a hexapod robot. The system includes a Dynamic Vision Sensor system able to command a pattern to the robot depending on the frequency of the events fired. The more activity the DVS produces, the faster that the pattern that is commanded will be.

Keywords

SCPGs Legged robots locomotion SpiNNaker Spiking neurons Hardware based implementations 

Notes

Acknowledgements

This work is partially supported by the Spanish government grant (with support from the European Regional Development Fund) COFNET (TEC2016-77785-P). Also, this work has been supported by the Mexican government through the CONACYT project “Aplicación de la Neurociencia Computacional en el Desarrollo de Sistemas Roboticos Biologicamente Inspirados” (269798). The work of Juan P. Dominguez-Morales was supported by a Formación de Personal Universitario Scholarship from the Spanish Ministry of Education, Culture and Sport.

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Brayan Cuevas-Arteaga
    • 1
  • Juan Pedro Dominguez-Morales
    • 2
    Email author
  • Horacio Rostro-Gonzalez
    • 1
  • Andres Espinal
    • 3
  • Angel F. Jimenez-Fernandez
    • 2
  • Francisco Gomez-Rodriguez
    • 2
  • Alejandro Linares-Barranco
    • 2
  1. 1.Department of ElectronicsDICIS-University of GuanajuatoSalamancaMexico
  2. 2.Robotic and Technology of Computers Lab.University of SevilleSevillaSpain
  3. 3.Department of Organizational StudiesDCEA-University of GuanajuatoGuanajuatoMexico

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