Ponencia
Live Demonstration: neuromorphic robotics, from audio to locomotion through spiking CPG on SpiNNaker.
Autor/es | Gutiérrez Galán, Daniel
Domínguez Morales, Juan Pedro Pérez Peña, Fernando Jiménez Fernández, Ángel Francisco Linares Barranco, Alejandro |
Departamento | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Fecha de publicación | 2019 |
Fecha de depósito | 2020-01-23 |
Publicado en |
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ISBN/ISSN | 978-1-7281-0397-6 2158-1525 |
Resumen | This live demonstration presents an audio-guided
neuromorphic robot: from a Neuromorphic Auditory Sensor
(NAS) to locomotion using Spiking Central Pattern Generators
(sCPGs). Several gaits are generated by sCPGs ... This live demonstration presents an audio-guided neuromorphic robot: from a Neuromorphic Auditory Sensor (NAS) to locomotion using Spiking Central Pattern Generators (sCPGs). Several gaits are generated by sCPGs implemented on a SpiNNaker board. The output of these sCPGs is sent in a real-time manner to an Field Programmable Gate Array (FPGA) board using an AER-to-SpiNN interface. The control of the hexapod robot joints is performed by the FPGA board. The robot behavior can be changed in real-time by means of the NAS. The audio information is sent to the SpiNNaker board which classifies it using a Spiking Neural Network (SNN). Thus, the input sound will activate a specific gait pattern which will eventually modify the behavior of the robot. |
Identificador del proyecto | TEC2016-77785-P |
Cita | Gutiérrez Galán, D., Domínguez Morales, J.P., Pérez Pena, F., Jiménez Fernández, Á.F. y Linares Barranco, A. (2019). Live Demonstration: neuromorphic robotics, from audio to locomotion through spiking CPG on SpiNNaker.. En ISCAS 2019: IEEE International Symposium on Circuits and Systems Sapporo, Japan: IEEE Computer Society. |
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