A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE
|Author/s||Pérez Peña, Fernando
Morgado Estévez, Arturo
Linares Barranco, Alejandro
Jiménez Fernández, Ángel Francisco
López Coronado, Juan
Muñóz Lozano, José Luis
|Department||Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores|
|Abstract||This paper presents a spike-based control system applied to a fixed
robotic platform. Our aim is to take a step forward to a future complete spikes
processing architecture, from vision to direct motor actuation. This ...
This paper presents a spike-based control system applied to a fixed robotic platform. Our aim is to take a step forward to a future complete spikes processing architecture, from vision to direct motor actuation. This paper covers the processing and actuation layer over an anthropomorphic robot. In this way, the processing layer uses the neuro-inspired VITE algorithm, for reaching a target, based on PFM taking advantage of spike system information: its frequency. Thus, all the blocks of the system are based on spikes. Each layer is implemented within a FPGA board and spikes communication is codified under the AER protocol. The results show an accurate behavior of the robotic platform with 6-bit resolution for a 130º range per joint, and an automatic speed control of the algorithm. Up to 96 motor controllers could be integrated in the same FPGA, allowing the positioning and object grasping by more complex anthropomorphic robots.
|Citation||Pérez Peña, F., Morgado Estévez, A., Linares Barranco, A., Jiménez Fernández, Á.F., López Coronado, J. y Muñóz Lozano, J.L. (2013). A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE. En IWANN 2013: 12th International Work-Conference on Artificial Neural Networks (299-308), Puerto de la Cruz, Tenerife, Spain: Springer.|