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Legged Locomotion and Central Pattern Generation

Our work, with my collaborators, on the development and application of silicon Central Pattern Generators (CPG) for the control of biped locomotion started in the early 2000's. We demonstrated adaptive CPG networks that established the correct gait and speed of walking for robots with both passive and active knees.1 The silicon implementation of these networks allowed real-time adaptation in response to external perturbations and asymmetries in the motor system. Using biologically inspired control networks, we were able to realize smooth, elegant and efficient bipedal running, walking and stepping, a result that is still hard to find in today's legged robotics systems.

References

  1. ["Configuring Spiking Central Pattern Generator Networks with Genetic Algorithms," IEEE ISCAS 2007, New Orleans, LA, May 2007; "AER Audition Filtering and CPG for Robot Control," IEEE ISCAS 2007, New Orleans, LA, May 2007; "A Floating-Gate Programmable Array of Silicon Neurons for Central Pattern Generating Networks," IEEE ISCAS 2006, Kos, Greece, May 2006; "CPG Design using Inhibitory Networks," Int. Conf. Robotics and Automation, Barcelona, Spain, 2005; "A Programmable Array of Silicon Neurons for the Control of Legged Locomotion," IEEE ISCAS'04, Vancouver, Canada, May 2004; "Entrainment of Silicon Central Pattern Generators for Legged Locomotory Control," Proc. of Neural Information Processing Systems 16, S. Thrun, L. Saul and B. Scholkopf (Eds.), MIT Press, Cambridge, MA, 2004; "An In Silico Central Pattern Generator: Silicon Oscillator, Coupling, Entrainment, Physical Computation & Biped Mechanism Control," Biological Cybernetics, Vol. 88, No. 2, pp 137-151, February 2003 ; "Biomorphic Control of a Running Robot Leg using a Custom aVLSI CPG Chip," Neurocomputing, Vol. 38-40, pp. 1409-1421, June 2001; "Towards Biomorphic Control Using aVLSI CPG Chips," Proc. IEEE ICRA, San Francisco, CA, April 2000].