Neuromorphic Control of Stepping Pattern Generation: A Dynamic Model With Analog Circuit Implementation
Neuromorphic Control of Stepping Pattern Generation: A Dynamic Model With Analog Circuit Implementation
复制标题
步进模式生成的神经形态控制：具有模拟电路实现的动态模型
DOI：
10.1109/tnnls.2011.2177859
复制
发表时间：
2012
影响因子：
10.4
通讯作者：
A. Murray
中科院分区：
文献类型：
--
作者：
Zhijun Yang;K. Cameron;William A. Lewinger;B. Webb;A. Murray
竹节虫等动物可以通过动态调整其行走方式，自适应地在复杂地形上行走。受Matsuoka和共振-火神经元耦合模型的启发，我们提出了一种非线性振荡模型作为有节奏步进模式生成的神经形态中枢模式发生器（CPG）。该动态模型还可用于驱动腿部关节上的运动神经元，驱动频率和占空比可调，只需在操作时改变一些模型参数，即可产生不同的步进模式。随后实现了该动态模型的新型混合信号集成电路设计，该设计虽然简化了，但在可调频率和占空比方面具有等效的输出性能。三个相同的CPG模型被用来驱动三个关节，可以使节肢动物的腿有三个自由度。通过适当的初始电路参数设置，以及关节之间适当的相位滞后，可以使腿在复杂的地形上以自适应的步长行走。这种适应与高级神经系统和低级感觉信号共同介导的回路参数有关。该模型采用0.3互补金属-氧化物-半导体工艺实现，并给出了计算结果。
Animals such as stick insects can adaptively walk on complex terrains by dynamically adjusting their stepping motion patterns. Inspired by the coupled Matsuoka and resonate-and-fire neuron models, we present a nonlinear oscillation model as the neuromorphic central pattern generator (CPG) for rhythmic stepping pattern generation. This dynamic model can also be used to actuate the motoneurons on a leg joint with adjustable driving frequencies and duty cycles by changing a few of the model parameters while operating such that different stepping patterns can be generated. A novel mixed-signal integrated circuit design of this dynamic model is subsequently implemented, which, although simplified, shares the equivalent output performance in terms of the adjustable frequency and duty cycle. Three identical CPG models being used to drive three joints can make an arthropod leg of three degrees of freedom. With appropriate initial circuit parameter settings, and thus suitable phase lags among joints, the leg is expected to walk on a complex terrain with adaptive steps. The adaptation is associated with the circuit parameters mediated both by the higher level nervous system and the lower level sensory signals. The model is realized using a 0.3- complementary metal-oxide-semiconductor process and the results are reported.
影响因子：
56.9
作者：
DELCOMYN, F
通讯作者：
DELCOMYN, F
影响因子：
2.5
作者：
Reich, DS;Victor, JD;Kaplan, E
通讯作者：
Kaplan, E
DOI：
--
发表时间：
1985-05
期刊：
The Journal of experimental biology
影响因子：
--
作者：
R. Harris-Warrick;A. Cohen
通讯作者：
R. Harris-Warrick;A. Cohen