A Novel Hardware-Efficient Central Pattern Generator Model Based on Asynchronous Cellular Automaton Dynamics for Controlling Hexapod Robot
A Novel Hardware-Efficient Central Pattern Generator Model Based on Asynchronous Cellular Automaton Dynamics for Controlling Hexapod Robot
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DOI：
10.1109/access.2020.3012706
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发表时间：
2020
期刊：
影响因子：
3.9
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
提出了一种新的硬件高效的中央模式发生器（CPG）模型，以实现六足机器人的仿生步态。CPG模型由元胞自动机（CA）振荡器网络组成;因此，它可以实现为时序逻辑电路网络。对非线性振荡动力学的详细分析表明，由多个异步时钟驱动的振荡器比由单个时钟或多个同步时钟驱动的振荡器更适合实现机器人的步态。此外，非线性网络动力学的详细分析表明，CA振荡器之间的时钟应该是异步的，以适当地实现步态。使用的分析，系统的程序来设计CPG模型的建议。所提出的CPG模型在现场可编程门阵列（FPGA）中实现，我们的实验验证，在FPGA中实现的CPG模型可以实现生物启发的硬件机器人的步态。此外，我们表明，所提出的CPG模型利用更少的电路元件和更低的功耗比传统的CPG模型。
This paper presents a novel hardware-efficient central pattern generator (CPG) model to realize a bio-inspired gait of a hexapod robot. The CPG model consists of a network of cellular automaton (CA) oscillators; thus, it can be implemented as a network of sequential logic circuits. Detailed analyses of nonlinear oscillation dynamics show that the oscillator that is driven by multiple asynchronous clocks is more suitable to realize the gait of the robot than an oscillator that is driven by a single clock or multiple synchronous clocks. Moreover, detailed analyses of nonlinear network dynamics show that the clocks among the CA oscillators should be asynchronous to appropriately realize the gait. Using the analyses, systematic procedures to design the CPG model are proposed. The proposed CPG model is implemented in a field programmable gate array (FPGA); our experiments validate that the CPG model implemented in an FPGA can realize the bio-inspired gait of a hardware robot. Further, we show that the proposed CPG model utilizes fewer circuit elements and lower power than a conventional CPG model.