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oaioai:idus.us.es:11441/92068

A SpiNNaker Application: Design, Implementation and Validation of SCPGs

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Publication date
1 January 2017
Publisher
Springer
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    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, 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.Ministerio de Economía y Competitividad TEC2016-77785-

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    idUS. Depósito de Investigación Universidad de Sevilla

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    Last time updated on 29/01/2020

    This paper was published in idUS. Depósito de Investigación Universidad de Sevilla.

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