Programmable coupled oscillators for synchronized locomotion
Programmable coupled oscillators for synchronized locomotion
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DOI：
10.1038/s41467-019-11198-6
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发表时间：
2019-07-24
影响因子：
16.6
通讯作者：
Datta, Suman
中科院分区：
文献类型：
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作者：
Dutta, Sourav;Parihar, Abhinav;Datta, Suman
生物运动步态与耦合振荡网络中相位模式的演变之间的惊人相似之处可以追溯到位于脊髓中的中央模式发生器的作用。仿生机器人旨在利用这种控制方法来生成同步肢体运动的节奏模式。在这里，我们利用耦合振荡器之间相互作用的同步现象和涌现的时空模式来生成一系列运动步态模式。我们通过实验演示了使用电容耦合二氧化钒纳米振荡器的中央模式发生器网络。耦合振荡器表现出稳定的极限环振荡和可调谐固有频率，以实现相位图的实时可编程性。振荡器和双向电容耦合的超紧凑 1 晶体管 1 电阻实现可实现较小的占地面积和较低的工作功耗。与基于仿生 CMOS 的神经元和突触模型相比，我们的设计通过减少控制参数的数量简化了片上实现和实时可调性。
The striking similarity between biological locomotion gaits and the evolution of phase patterns in coupled oscillatory network can be traced to the role of central pattern generator located in the spinal cord. Bio-inspired robotics aim at harnessing this control approach for generation of rhythmic patterns for synchronized limb movement. Here, we utilize the phenomenon of synchronization and emergent spatiotemporal pattern from the interaction among coupled oscillators to generate a range of locomotion gait patterns. We experimentally demonstrate a central pattern generator network using capacitively coupled Vanadium Dioxide nano-oscillators. The coupled oscillators exhibit stable limit-cycle oscillations and tunable natural frequencies for real-time programmability of phase-pattern. The ultra-compact 1 Transistor-1 Resistor implementation of oscillator and bidirectional capacitive coupling allow small footprint area and low operating power. Compared to biomimetic CMOS based neuron and synapse models, our design simplifies on-chip implementation and real-time tunability by reducing the number of control parameters.