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AER Auditory Filtering and CPG for Robot Control

 

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Author: Gómez Rodríguez, Francisco de Asís
Linares Barranco, Alejandro
Miró Amarante, María Lourdes
Liu, Shih-Chii
Schaik, André van
Etienne-Cummings, R.
Lewis, M. A.
Department: Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores
Date: 2007
Published in: ISCAS 2007: IEEE International Symposium on Circuits and Systems (2007), p 1201-1204
ISBN/ISSN: 1-4244-0920-9
0271-4302
Document type: Presentation
Abstract: Address-Event-Representation (AER) is a communication protocol for transferring asynchronous events between VLSI chips, originally developed for bio-inspired processing systems (for example, image processing). The event information in an AER system is transferred using a highspeed digital parallel bus. This paper presents an experiment using AER for sensing, processing and finally actuating a Robot. The AER output of a silicon cochlea is processed by an AER filter implemented on a FPGA to produce rhythmic walking in a humanoid robot (Redbot). We have implemented both the AER rhythm detector and the Central Pattern Generator (CPG) on a Spartan II FPGA which is part of a USB-AER platform developed by some of the authors.
Cite: Gómez Rodríguez, F.d.A., Linares Barranco, A., Miró Amarante, M.L., Liu, S., Schaik, A.v., Etienne-Cummings, R. y Lewis, M.A. (2007). AER Auditory Filtering and CPG for Robot Control. En ISCAS 2007: IEEE International Symposium on Circuits and Systems (1201-1204), New Orleans, USA: IEEE Computer Society.
Size: 408.0Kb
Format: PDF

URI: https://hdl.handle.net/11441/87936

DOI: 10.1109/ISCAS.2007.378268

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