Title :
CPG-MTA implementation for locomotion control
Author :
Arena, P. ; Fortuna, L. ; Frasca, M. ; Patané, L. ; Vagliasindi, G.
Author_Institution :
Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Universitii degli Studi di Catania, Italy
Abstract :
This paper deals with the new realization of the VLSI chip for locomotion control introduced in Arena et al. (2003). With respect to the previous version, the new chip includes the fully functional generation of several locomotion gaits suitable for the control of hexapod robots and other bio-inspired structures. Experimental results and the application of the chip to the control of two bio-inspired robots are shown.
Keywords :
gait analysis; legged locomotion; motion control; CPG-MTA implementation; VLSI chip; bio-inspired structures; hexapod robot control; locomotion control; locomotion gait generation; Cellular networks; Cellular neural networks; Circuit testing; Leg; Legged locomotion; Limit-cycles; Neurons; Oscillators; Robot control; Very large scale integration;
Conference_Titel :
Circuits and Systems, 2005. ISCAS 2005. IEEE International Symposium on
Print_ISBN :
0-7803-8834-8
DOI :
10.1109/ISCAS.2005.1465533
