Presentation
A SpiNNaker Application: Design, Implementation and Validation of SCPGs
Author/s | Cuevas Arteaga, Brayan
Domínguez Morales, Juan Pedro Rostro González, Horacio Espinal, Andrés Jiménez Fernández, Ángel Francisco Gómez Rodríguez, Francisco de Asís Linares Barranco, Alejandro |
Department | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Publication Date | 2017 |
Deposit Date | 2020-01-22 |
Published in |
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ISBN/ISSN | 978-3-319-59152-0 0302-9743 |
Abstract | In this paper, we present the numerical results of the implementation
of a Spiking Central Pattern Generator (SCPG) on a SpiNNaker
board. The SCPG is a network of current-based leaky integrateand-
fire (LIF) neurons, ... In this paper, we present the numerical results of the implementation of a Spiking Central Pattern Generator (SCPG) on a SpiNNaker board. The SCPG is a network of current-based leaky integrateand- fire (LIF) neurons, which generates periodic spike trains that correspond to different locomotion gaits (i.e. walk, trot, run). To generate such patterns, the SCPG has been configured with different topologies, and its parameters have been experimentally estimated. To validate our designs, we have implemented them on the SpiNNaker board using PyNN and we have embedded it on a hexapod robot. The system includes a Dynamic Vision Sensor system able to command a pattern to the robot depending on the frequency of the events fired. The more activity the DVS produces, the faster that the pattern that is commanded will be. |
Project ID. | TEC2016-77785-P |
Citation | Cuevas Arteaga, B., Domínguez Morales, J.P., Rostro González, H., Espinal, A., Jiménez Fernández, Á.F., Gómez Rodríguez, F.d.A. y Linares Barranco, A. (2017). A SpiNNaker Application: Design, Implementation and Validation of SCPGs. En IWANN 2017: 14th International Work-Conference on Artificial Neural Networks (548-559), Cadiz, España: Springer. |
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A SpiNNaker Application.pdf | 1.546Mb | [PDF] | View/ | |