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An AER to CAN Bridge for Spike-Based Robot Control

 

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Opened Access An AER to CAN Bridge for Spike-Based Robot Control
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Author: Domínguez Morales, Manuel Jesús
Jiménez Fernández, Ángel Francisco
Paz Vicente, Rafael
Linares Barranco, Alejandro
Cascado Caballero, Daniel
Coronado, J.L.
Muñoz, J.L.
Jiménez Moreno, Gabriel
Department: Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores
Date: 2011
Published in: IWANN 2011: 11th International Work-Conference on Artificial Neural Networks (2011), p 124-132
ISBN/ISSN: 978-3-642-21500-1
0302-9743
Document type: Presentation
Abstract: Address-Event-Representation (AER) is a bio-inspired communication protocol between chips. A set of AER sensors (retina and cochleas), processors (convolvers, WTA, mappers, …) and actuators can be found in the literature that have been specifically designed for mimicking the communication principle in the brain: spikes. The problem when developing complex robots based on AER (or spikes) is to command actuators (motors) directly with spikes. Commercial robots are usually based on commercial standards (CAN) that do not allow powering actuators directly with spikes. This paper presents a co-design FPGA and embedded computer system that implements a bridge between these two protocols: CAN and AER. The bridge has been analyzed under the Spanish project VULCANO1 with an arm robot and a Shadow anthropomorphic hand.
Cite: Domínguez Morales, M.J., Jiménez Fernández, Á.F., Paz Vicente, R., Linares Barranco, A., Cascado Caballero, D., Coronado, J.L.,...,Jiménez Moreno, G. (2011). An AER to CAN Bridge for Spike-Based Robot Control. En IWANN 2011: 11th International Work-Conference on Artificial Neural Networks (124-132), Torremolinos, Málaga, España: Springer.
Size: 789.1Kb
Format: PDF

URI: https://hdl.handle.net/11441/74425

DOI: 10.1007/978-3-642-21501-8_16

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