Low-voltage analog current-mode Central Pattern Generator circuit for robotic chewing locomotion using 130nanometer CMOS technology

Rhythmic animal locomotive behaviour such as walking, running, swimming and flying is known to be driven by biological neural networks with phase-locked oscillatory behaviour called Central Pattern Generator. This paper describes a Central Pattern Generator(CPG) circuit for locomotion control of rhythmic robotic chewing. A two-neuron CPG model slightly modified from the Matsuoka´s oscillator model has been implemented in low-voltage analog CMOS circuit using the IBM 130 nm CMOS technology. Compared to digital implementation, the analog CPG consumes less power and occupies less silicon area. The analog CPG consists of current-mode low-pass filters and current mirrors implementing the neurons which are cross-connected by inhibitory synaptic links. There are two tonic sensory inputs, two internal states and two adaptation outputs for muscles for the CPG circuit.