An AER to CAN Bridge for Spike-Based Robot Control
|Author||Domínguez Morales, Manuel Jesús
Jiménez Fernández, Ángel Francisco
Paz Vicente, Rafael
Linares Barranco, Alejandro
Cascado Caballero, Daniel
Jiménez Moreno, Gabriel
|Department||Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores|
|Abstract||Address-Event-Representation (AER) is a bio-inspired communication
protocol between chips. A set of AER sensors (retina and cochleas), processors
(convolvers, WTA, mappers, …) and actuators can be found in the literature ...
Address-Event-Representation (AER) is a bio-inspired communication protocol between chips. A set of AER sensors (retina and cochleas), processors (convolvers, WTA, mappers, …) and actuators can be found in the literature that have been specifically designed for mimicking the communication principle in the brain: spikes. The problem when developing complex robots based on AER (or spikes) is to command actuators (motors) directly with spikes. Commercial robots are usually based on commercial standards (CAN) that do not allow powering actuators directly with spikes. This paper presents a co-design FPGA and embedded computer system that implements a bridge between these two protocols: CAN and AER. The bridge has been analyzed under the Spanish project VULCANO1 with an arm robot and a Shadow anthropomorphic hand.
|Funding agencies||Ministerio de Ciencia e Innovación (MICIN). España|
|Citation||Domínguez Morales, M.J., Jiménez Fernández, Á.F., Paz Vicente, R., Linares Barranco, A., Cascado Caballero, D., Coronado, J.L.,...,Jiménez Moreno, G. (2011). An AER to CAN Bridge for Spike-Based Robot Control. En IWANN 2011: 11th International Work-Conference on Artificial Neural Networks (124-132), Torremolinos, Málaga, España: Springer.|