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Presentation
Using FPGA for visuo-motor control with a silicon retina and a humanoid robot
Author/s | Linares Barranco, Alejandro
Gómez Rodríguez, Francisco de Asís Jiménez Fernández, Ángel Francisco Delbrück, T. Lichtensteiner, P. |
Department | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Publication Date | 2007 |
Deposit Date | 2020-01-30 |
Published in |
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ISBN/ISSN | 1-4244-0920-9 0271-4302 |
Abstract | The address-event representation (AER) is a
neuromorphic communication protocol for transferring
asynchronous events between VLSI chips. The event
information is transferred using a high speed digital parallel
bus. ... The address-event representation (AER) is a neuromorphic communication protocol for transferring asynchronous events between VLSI chips. The event information is transferred using a high speed digital parallel bus. This paper present an experiment based on AER for visual sensing, processing and finally actuating a robot. The AER output of a silicon retina is processed by an AER filter implemented into a FPGA to produce a mimicking behaviour in a humanoid robot (The RoboSapiens V2). We have implemented the visual filter into the Spartan II FPGA of the USB-AER platform and the Central Pattern Generator (CPG) into the Spartan 3 FPGA of the AER-Robot platform, both developed by authors. |
Project ID. | IST-2001-34124 (CAVIAR)
TIC-2003-08164-C03-02 |
Citation | Linares Barranco, A., Gómez Rodríguez, F.d.A., Jiménez Fernández, Á.F., Delbrück, T. y Lichtensteiner, P. (2007). Using FPGA for visuo-motor control with a silicon retina and a humanoid robot. En ISCAS 2007: IEEE International Symposium on Circuits and Systems (1192-1195), New Orleans, USA: IEEE Computer Society. |
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