dc.creator | Pérez Peña, Fernando | es |
dc.creator | Linares Barranco, Alejandro | es |
dc.creator | Chicca, Elisabetta | es |
dc.date.accessioned | 2020-02-13T09:04:49Z | |
dc.date.available | 2020-02-13T09:04:49Z | |
dc.date.issued | 2014 | |
dc.identifier.citation | Pérez Peña, F., Linares Barranco, A. y Chicca, E. (2014). An Approach to Motor Control for Spike-based Neuromorphic Robotics. En BioCAS 2014: IEEE Biomedical Circuits and Systems Conference (528-531), Lausanne, Switzerland: IEEE Computer Society. | |
dc.identifier.isbn | 978-1-4799-2346-5 | es |
dc.identifier.issn | 2163-4025 | es |
dc.identifier.uri | https://hdl.handle.net/11441/92992 | |
dc.description.abstract | This paper presents an approach to open-loop
motor control using Integrate and Fire (IF) neurons. The
controller aims at mimicking motor control structures found in
the brain and consists of three neuron populations implemented
on different VLSI chips. The first population codes the distance
to the target in a form of a firing rate (similarly to some class of
cells found in Area 4 in the motor mammalian cortex). The
second population mimics the behavior of neurons of the basal
ganglia and control the gating and speed of the movement, by
means of an NMDA synapse and an excitatory connection. The
third population codes the supposed position reached by the
robot. The multi-chip neuromorphic setup is interfaced with a
Field-Programmable Gate Array (FPGA) board by the Address
Event Representation (AER) communication protocol. The
FPGA elongates the spike duration to make them suitable for
driving the motors with Pulse Frequency Modulation (PFM).
This approach aims to compete with classic controllers offering
lower power, simplified control and smoother movements. | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad TEC2012-37868-C04-02/01 | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | IEEE Computer Society | es |
dc.relation.ispartof | BioCAS 2014: IEEE Biomedical Circuits and Systems Conference (2014), p 528-531 | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Neuromorphic hardware | es |
dc.subject | Motor control | es |
dc.subject | Spike-based | es |
dc.subject | Robotics | es |
dc.title | An Approach to Motor Control for Spike-based Neuromorphic Robotics | 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 | TEC2012-37868-C04-02/01 | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/6981779 | es |
dc.identifier.doi | 10.1109/BioCAS.2014.6981779 | es |
dc.contributor.group | Universidad de Sevilla. TEP-108: Robótica y Tecnología de Computadores Aplicada a la Rehabilitación | es |
idus.format.extent | 4 | es |
dc.publication.initialPage | 528 | es |
dc.publication.endPage | 531 | es |
dc.eventtitle | BioCAS 2014: IEEE Biomedical Circuits and Systems Conference | es |
dc.eventinstitution | Lausanne, Switzerland | es |
dc.relation.publicationplace | New York, USA | es |