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

Research output: Book chapterConference contributionpeer-review

12 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationAdvances in Computational Intelligence - 14th International Work-Conference on Artificial Neural Networks, IWANN 2017, Proceedings
EditorsAndreu Catala, Ignacio Rojas, Gonzalo Joya
PublisherSpringer Verlag
Pages548-559
Number of pages12
ISBN (Print)9783319591520
DOIs
Publication statusPublished - 2017
Externally publishedYes
Event14th International Work-Conference on Artificial Neural Networks, IWANN 2017 - Cadiz, Spain
Duration: 14 Jun 201716 Jun 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10305 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference14th International Work-Conference on Artificial Neural Networks, IWANN 2017
Country/TerritorySpain
CityCadiz
Period14/06/1716/06/17

Keywords

  • Hardware based implementations
  • Legged robots locomotion
  • SCPGs
  • Spiking neurons
  • SpiNNaker

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