A Novel Hardware-Efficient CPG Model based on Asynchronous Cellular Automaton

Abstract

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.