A Novel Hardware-Efficient CPG Model Based on Nonlinear Dynamics of Asynchronous Cellular Automaton
A novel hardware-efficient central pattern generator (CPG) model based on the nonlinear dynamics of an asynchronous cellular automaton is presented. It is shown that the presented model can generate multi-phase synchronized periodic signals, which are suitable for controlling a snake robot. Then, the presented model is implemented on a field programmable gate array (FPGA) and is connected to a snake robot hardware. It is shown by real machine experiments that the presented model can realize rhythmic spinal locomotions of the snake robot. Moreover, it is shown that the presented model consumes much fewer hardware resources (FPGA slices) than a standard simple CPG model.
KeywordsCentral Pattern Generator Nonlinear dynamics Asynchronous cellular automaton Field-programmable gate array Snake robot
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