Design of Spiking Central Pattern Generators for Multiple Locomotion Gaits in Hexapod Robots by Christiansen Grammar Evolution

Design of Spiking Central Pattern Generators for Multiple Locomotion Gaits in Hexapod Robots by Christiansen Grammar Evolution

This paper deals with the design of Spiking Central Pattern Generators (SCPGs) to achieve locomotion at different frequencies in legged robots and their hardware implementation in a FPGA and validation on a real hexapod robot. Herein, the SCPGs are automatically designed by a Christiansen Grammar Ev...

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Bibliographic Details
Main Authors: Andrés Espinal, Horacio Rostro Gonzalez, Martin Carpio, Erick Israel Guerra-Hernandez, Manuel Ornelas-Rodriguez, Marco Sotelo-Figueroa
Format: Article
Language:English
Published: Frontiers Media S.A. 2016-07-01
Series:Frontiers in Neurorobotics
Subjects:
central pattern generator
FPGA
Spiking Neural network
SPIKE-Distance
Evolution strategy
Legged robot locomotion
Online Access:http://journal.frontiersin.org/Journal/10.3389/fnbot.2016.00006/full

Internet

http://journal.frontiersin.org/Journal/10.3389/fnbot.2016.00006/full

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