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

Producción científica: Capítulo del libroContribución a congreso/conferenciarevisión exhaustiva

12 Citas (Scopus)

Resumen

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 originalInglés
Título de la publicación alojadaAdvances in Computational Intelligence - 14th International Work-Conference on Artificial Neural Networks, IWANN 2017, Proceedings
EditoresAndreu Catala, Ignacio Rojas, Gonzalo Joya
EditorialSpringer Verlag
Páginas548-559
Número de páginas12
ISBN (versión impresa)9783319591520
DOI
EstadoPublicada - 2017
Publicado de forma externa
Evento14th International Work-Conference on Artificial Neural Networks, IWANN 2017 - Cadiz, Espana
Duración: 14 jun 201716 jun 2017

Serie de la publicación

NombreLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen10305 LNCS
ISSN (versión impresa)0302-9743
ISSN (versión digital)1611-3349

Conferencia

Conferencia14th International Work-Conference on Artificial Neural Networks, IWANN 2017
País/TerritorioEspana
CiudadCadiz
Período14/06/1716/06/17

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