A novel hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators for a hexapod robot
A novel hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators for a hexapod robot
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DOI：
10.1109/ijcnn48605.2020.9207230
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发表时间：
2020-07
期刊：
影响因子：
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通讯作者：
Kentaro Takeda;H. Torikai
中科院分区：
文献类型：
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作者：
Kentaro Takeda;H. Torikai
提出了一种基于元胞自动机（CA）相位振荡器异步耦合的六足机器人中央模式发生器（CPG）模型。结果表明，所提出的模型可以表现出不同的同步模式取决于参数值。为了分析同步模式，相位平衡和目标同步模式的评价函数。作为分析的结果，它表明，异步耦合CA相位振荡器比同步耦合CA相位振荡器更适合于六足机器人。所提出的异步CPG模型与适当调整的参数上实现的现场可编程门阵列（FPGA）设备和设备安装在六足机器人。实验室实验表明，该机器人能够再现六足昆虫的一种典型步态。最后，与传统的数值积分CPG模型和我们以前的CPG模型相比，所提出的CPG模型消耗更少的电路元件和更低的功耗。
In this paper, a novel hardware-efficient central pattern generator (CPG) model based on asynchronous coupling of cellular automaton (CA) phase oscillators for a hexapod robot is presented. It is shown that the presented model can exhibit various synchronization patterns depending on parameter values. In order to analyze the synchronization patterns, a phase equilibrium and an evaluation function for a target synchronization pattern are introduced. As a result of the analysis, it is shown that an asynchronously coupled CA phase oscillators is suitable for the hexapod robot than a synchronously coupled CA phase oscillators. The presented asynchronous CPG model with parameters tuned appropriately is implemented on a field programmable gate array (FPGA) device and the device is mounted on a hexapod robot. A laboratory experiment verifies that the hexapod robot can reproduce one of typical gaits of six-legged insects. Finally, it is shown that the presented CPG model consumes far fewer circuits elements and much less power compared with one of conventional numerical integration CPG model and our previous CPG model.