Ponencia
SVITE: A Spike-Based VITE Neuro-Inspired Robot Controller
Autor/es | Pérez Peña, Fernando
Morgado Estévez, Arturo Linares Barranco, Alejandro Domínguez Morales, Manuel Jesús Jiménez Fernández, Ángel Francisco |
Departamento | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Fecha de publicación | 2013 |
Fecha de depósito | 2020-01-30 |
Publicado en |
|
ISBN/ISSN | 978-3-642-42053-5 0302-9743 |
Resumen | This paper presents an implementation of a neuro-inspired algorithm
called VITE (Vector Integration To End Point) in FPGA in the spikes domain.
VITE aims to generate a non-planned trajectory for reaching tasks in ... This paper presents an implementation of a neuro-inspired algorithm called VITE (Vector Integration To End Point) in FPGA in the spikes domain. VITE aims to generate a non-planned trajectory for reaching tasks in robots. The algorithm has been adapted to work completely in the spike domain under Simulink simulations. The FPGA implementation consists in 4 VITE in parallel for controlling a 4-degree-of-freedom stereo-vision robot. This work represents the main layer of a complex spike-based architecture for robot neuro-inspired reaching tasks in FPGAs. It has been implemented in two Xilinx FPGA families: Virtex-5 and Spartan-6. Resources consumption comparative between both devices is presented. Results obtained for Spartan device could allow controlling complex robotic structures with up to 96 degrees of freedom per FPGA, providing, in parallel, high speed connectivity with other neuromorphic systems sending movement references. An exponential and gamma distribution test over the inter spike interval has been performed to proof the approach to the neural code proposed. |
Identificador del proyecto | TEC2012-37868-C04-02 |
Cita | Pérez Peña, F., Morgado Estévez, A., Linares Barranco, A., Domínguez Morales, M.J. y Jiménez Fernández, Á.F. (2013). SVITE: A Spike-Based VITE Neuro-Inspired Robot Controller. En ICONIP 2013: 20th International Conference on Neural Information Processing (276-283), Daegu, Korea: Springer. |