A SpiNNaker application: Design, implementation and validation of SCPGs

Brayan Cuevas-Arteaga, Juan Pedro Dominguez-Morales, Horacio Rostro-Gonzalez, Andres Espinal, Angel F. Jimenez-Fernandez, Francisco Gomez-Rodriguez, Alejandro Linares-Barranco

Producció científica: Capítol de llibreContribució a congrés/conferènciaAvaluat per experts

10 Cites (Scopus)

Resum

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.

Idioma originalAnglès
Títol de la publicacióAdvances in Computational Intelligence - 14th International Work-Conference on Artificial Neural Networks, IWANN 2017, Proceedings
EditorsAndreu Catala, Ignacio Rojas, Gonzalo Joya
EditorSpringer Verlag
Pàgines548-559
Nombre de pàgines12
ISBN (imprès)9783319591520
DOIs
Estat de la publicacióPublicada - 2017
Publicat externament
Esdeveniment14th International Work-Conference on Artificial Neural Networks, IWANN 2017 - Cadiz, Spain
Durada: 14 de juny 201716 de juny 2017

Sèrie de publicacions

NomLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volum10305 LNCS
ISSN (imprès)0302-9743
ISSN (electrònic)1611-3349

Conferència

Conferència14th International Work-Conference on Artificial Neural Networks, IWANN 2017
País/TerritoriSpain
CiutatCadiz
Període14/06/1716/06/17

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