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Biomimetic CPGs for robotic applications

Abstract : Locomotion is one of the most basic abilities of animals. Neurobiologists have established that locomotion results from the activity of half-center oscillators that provides alternating bursts. Most rhythmic movements are programmed by central pattern-generating (CPG) networks consisting of neural oscillators. A biomimetic system mimics the nature for simulating the living behavior and/or replaces it (rebuilding the living part). We propose a network of hundreds biomimetic CPGs using biomimetic neuron model and synapses. This network is implemented in an FPGA (Field Programmable Gate Array). This article is decomposed into two parts: the description, the implementation and results of the biomimetic network of CPGs, and the architecture and advantages of robots including our biomimetic CPGs.
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  • HAL Id : hal-00956627, version 1

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Timothée Levi, Matthieu Ambroise, Filippo Grassia, Sylvain Saïghi, Takashi Kohno, et al.. Biomimetic CPGs for robotic applications. International Symposium on Artificial Life and Robotics, Jan 2014, Beppu, Japan. pp.355-358. ⟨hal-00956627⟩

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