IC implementation of interstitial cell-based CPG model
IC implementation of interstitial cell-based CPG model
复制标题
基于间质细胞的 CPG 模型的 IC 实现
DOI：
10.1007/s10470-014-0349-2
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Yoshifumi Sekine
中科院分区：
文献类型：
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作者：
Katsutoshi Saeki;Daisuke Nihei;Tatsuya Tatebe;Yoshifumi Sekine
众所周知，四足动物的运动模式是由位于中枢神经系统间质细胞内的中枢模式发生器（CPG）产生的。基于这一事实，许多研究人员已经使用CPG模型来开发机器人的控制适应。在此之前，作者提出了一个CPG模型，通过单脉冲外部输入生成和控制四足动物的运动。然而，在该模型中，大电容对于产生1-10 Hz的机器人控制模式是必要的。本文提出了一种CPG模型，其中由间质细胞产生的摆动和站立模式通过低电容0.18 μm CMOS工艺产生低频模式。它表明，该模型方法可以产生五个基本的四足动物运动模式（步行，步伐，小跑，绑定，和驰骋）在一个频率适合于控制一个四足动物运动机器人。
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.