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Four-legged Walking Gait Control Using a Neuromorphic Chip Interfaced to a Support Vector Learning Algorithm

2001

Conference Paper

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To control the walking gaits of a four-legged robot we present a novel neuromorphic VLSI chip that coordinates the relative phasing of the robot's legs similar to how spinal Central Pattern Generators are believed to control vertebrate locomotion [3]. The chip controls the leg movements by driving motors with time varying voltages which are the outputs of a small network of coupled oscillators. The characteristics of the chip's output voltages depend on a set of input parameters. The relationship between input parameters and output voltages can be computed analytically for an idealized system. In practice, however, this ideal relationship is only approximately true due to transistor mismatch and offsets.

Author(s): Still, S. and Schölkopf, B. and Hepp, K. and Douglas, RJ.
Book Title: Advances in Neural Information Processing Systems 13
Journal: Advances in Neural Information Processing Systems
Pages: 741-747
Year: 2001
Month: April
Day: 0
Editors: TK Leen and TG Dietterich and V Tresp
Publisher: MIT Press

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

Event Name: 14th Annual Neural Information Processing Systems Conference (NIPS 2000)
Event Place: Denver, CO, USA

Address: Cambridge, MA, USA
Digital: 0
ISBN: 0-262-12241-3
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

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BibTex

@inproceedings{1841,
  title = {Four-legged Walking Gait Control Using a Neuromorphic Chip Interfaced to a Support Vector Learning Algorithm},
  author = {Still, S. and Sch{\"o}lkopf, B. and Hepp, K. and Douglas, RJ.},
  journal = {Advances in Neural Information Processing Systems},
  booktitle = {Advances in Neural Information Processing Systems 13},
  pages = {741-747},
  editors = {TK Leen and TG Dietterich and V Tresp},
  publisher = {MIT Press},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Cambridge, MA, USA},
  month = apr,
  year = {2001},
  month_numeric = {4}
}