A novel design method of simplified central nervous system model of C. elegans based on hybrid dynamics of sequential logic and numerical integration

抄録

This study proposes a novel design method of a neuromorphic electronic circuit: design of a neuromorphic circuit based on appropriately selected hybrid dynamics of sequential logic with a single clock, sequential logic with multiple clocks, and numerical integration. Based on the proposed design method, a novel central nervous system model of C. elegans is presented. It is shown that the presented model can realize typical responses of a conventional central nervous system model of C. elegans. Furthermore, the presented model is implemented by a field programmable gate array and is used to control a prototype robot of C. elegans body. Experiments validate that the presented central nervous system model enables the body robot to reproduce typical chemotaxis behaviors of the conventional C. elegans model. In addition, comparisons show that the presented model consumes fewer circuit elements and lower power compared to various central nervous system models of C. elegans based on the sequential logics and the numerical integration.