dc.creator | Pérez Peña, Fernando | es |
dc.creator | Morgado Estévez, Arturo | es |
dc.creator | Linares Barranco, Alejandro | es |
dc.creator | Jiménez Fernández, Ángel Francisco | es |
dc.creator | López Coronado, Juan | es |
dc.creator | Muñóz Lozano, José Luis | es |
dc.date.accessioned | 2020-01-20T08:59:56Z | |
dc.date.available | 2020-01-20T08:59:56Z | |
dc.date.issued | 2013 | |
dc.identifier.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. | |
dc.identifier.isbn | 978-3-642-38678-7 | es |
dc.identifier.issn | 0302-9743 | es |
dc.identifier.uri | https://hdl.handle.net/11441/91882 | |
dc.description.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 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. | es |
dc.description.sponsorship | Ministerio de Ciencia e Innovación TEC2009-10639-C04-02 | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad TEC2012-37868-C04-02 | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | Springer | es |
dc.relation.ispartof | IWANN 2013: 12th International Work-Conference on Artificial Neural Networks (2013), p 299-308 | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Spike systems | es |
dc.subject | Motor control | es |
dc.subject | VITE | es |
dc.subject | Address-event-representation | es |
dc.subject | Neuro-inspired | es |
dc.subject | Neuromorphic engineering | es |
dc.subject | Anthropomorphic robots | es |
dc.title | A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE | es |
dc.type | info:eu-repo/semantics/conferenceObject | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/submittedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores | es |
dc.relation.projectID | TEC2009-10639-C04-02 | es |
dc.relation.projectID | TEC2012-37868-C04-02 | es |
dc.relation.publisherversion | https://link.springer.com/chapter/10.1007/978-3-642-38679-4_29 | es |
dc.identifier.doi | 10.1007/978-3-642-38679-4_29 | es |
dc.contributor.group | Universidad de Sevilla. TEP-108: Robótica y Tecnología de Computadores Aplicada a la Rehabilitación | es |
idus.format.extent | 10 | es |
dc.publication.initialPage | 299 | es |
dc.publication.endPage | 308 | es |
dc.eventtitle | IWANN 2013: 12th International Work-Conference on Artificial Neural Networks | es |
dc.eventinstitution | Puerto de la Cruz, Tenerife, Spain | es |
dc.relation.publicationplace | Berlin | es |
dc.identifier.sisius | 20553037 | es |