Ponencia
Spike-based VITE control with Dynamic Vision Sensor applied to an Arm Robot.
Autor/es | Pérez Peña, Fernando
Morgado Estévez, Arturo Serrano Gotarredona, María Teresa Gómez Rodríguez, Francisco de Asís Ferrer García, V. Jiménez Fernández, Ángel Francisco Linares Barranco, Alejandro |
Departamento | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Fecha de publicación | 2014 |
Fecha de depósito | 2020-01-30 |
Publicado en |
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ISBN/ISSN | 978-1-4799-3432-4 0271-4302 |
Resumen | Spike-based motor control is very important in the
field of robotics and also for the neuromorphic engineering
community to bridge the gap between sensing / processing
devices and motor control without losing the spike ... Spike-based motor control is very important in the field of robotics and also for the neuromorphic engineering community to bridge the gap between sensing / processing devices and motor control without losing the spike philosophy that enhances speed response and reduces power consumption. This paper shows an accurate neuro-inspired spike-based system composed of a DVS retina, a visual processing system that detects and tracks objects, and a SVITE motor control, where everything follows the spike-based philosophy. The control system is a spike version of the neuroinspired open loop VITE control algorithm implemented in a couple of FPGA boards: the first one runs the algorithm and the second one drives the motors with spikes. The robotic platform is a low cost arm with four degrees of freedom. |
Identificador del proyecto | TEC2009-10639-C04-02/01
TEC2012-37868-C04-02/01 |
Cita | Pérez Peña, F., Morgado Estévez, A., Serrano Gotarredona, M.T., Gómez Rodríguez, F.d.A., Ferrer García, V., Jiménez Fernández, Á.F. y Linares Barranco, A. (2014). Spike-based VITE control with Dynamic Vision Sensor applied to an Arm Robot.. En ISCAS 2014: IEEE International Symposium on Circuits and Systems (463-466), Melbourne VIC, Australia: IEEE Computer Society. |
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