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A robot is presented whose behavior is based on two fundamental types of learning in the animal world: Classical Conditioning (CC) and Operant Conditioning (OC). It is shown how both share Spike-Timing-Dependent-Plasticity (STDP) as learning process for a Spiking Neural Network (SNN). STDP was implemented on a Field-Programmable Gate Array (FPGA) with very low-demanding resources, using an adaptation...
Living organisms has the excellent locomotion controller by using biological neural networks. Therefore, many researchers have been emulated the biological neural networks for applying similar control to small size robots. We are studying artificial neural networks for the purpose of controlling a small size robot without using software programs. Previously, we have constructed two types of insect...
This paper presents the integrated circuit (IC) which could output a driving waveform to generate the walking motion of the piezoelectric element impact-type micro electro mechanical systems (MEMS) microrobot. The microrobot was made from silicon wafer fabricated by micro fabrication technology. The size of the fabricated robot was 4.0 × 4.6 × 3.6 mm. IC design of the pulse-type hardware neuron model...
This paper presents a kind of biomimetic neural circuit for simulating and implementing sidewinding of a snakelike robot. Biologically inspired by the neural circuit diagram in the spinal cord of lampreys, we propose a neural oscillator model and a chained inhibitory neural circuit. A set of leaky integrator type and sigmoid type interneurons is incorporated into the design of the neural diagram for...
This paper presents a CMOS neuron circuit design based on the Hindermarsh-Rose (HR) neuron model. In order to be fabricated in a 0.18μm CMOS technology with 1.8V compatible transistors, both time and amplitude scaling of HR neuron model is adopted. This on chip solution also minimizes the power consumption and circuit size, which is ideal for motion control unit of the proposed bio-mimetic micro-robot...
This paper presents a low power circuit design for an electronic nervous system composed of central pattern generator (CPG) to control a biomimetic robot that mimics the lamprey swimming system. The circuit has been designed using 65nm CMOS technology model at 0.8V supply. The design challenges of narrow voltage design margin and high sensitivity to parameter variation are addressed by circuit optimization...
Improved on-chip circuit densities have enabled the practical realization of increasingly demanding applications. Microelectronics design now faces a number of challenges: hardware has become more complex to describe making it a more arduous process for designs to pass verification and the proportion of a design that is covered by testing is reduced increasing the likelihood of bugs in the final hardware...
Spiking neurons and spiking neural circuits are finding uses in a multitude of tasks such as robotic locomotion control, neuroprosthetics, visual sensory processing, and audition. The desired neural output is achieved through the use of complex neuron models, or by combining multiple simple neurons into a network. In either case, a means for configuring the neuron or neural circuit is required. Manual...
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