IEICE Electronics Express
Online ISSN : 1349-2543
ISSN-L : 1349-2543
A novel hardware-efficient CPG model based on asynchronous cellular automaton
Kentaro TakedaHiroyuki Torikai
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2018 Volume 15 Issue 11 Pages 20180387


A novel hardware-efficient central pattern generator (CPG) model the dynamics of which is described by an asynchronous cellular automaton is proposed. It is shown that the proposed model can generate multi-phase synchronized periodic signals, which are suitable for controlling a serpentine motion of a snake-like robot. The proposed model is then implemented on a field programmable gate array (FPGA) and is used to control a snake-like robot. It is shown by experimental validation using a prototype machine that the proposed model can realize rhythmic locomotor activity in snakes. Moreover, it is shown that the proposed model consumes much fewer hardware resources (FPGA slices) than a typical conventional CPG model. Also, parameter setting methods to adjust the locomotion of the robot are shown.

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© 2018 by The Institute of Electronics, Information and Communication Engineers
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