A low cost biomimetic implementation of a CPG based on AdEx neuron model

摘要

Designing an efficient locomotion system is a major problem in robots. Inspired by biological Central Pattern Generator (CPG), different bio inspired structures have been used in mobile robots like hexapods, octopods, lamprey-like and worm-like robots. CPG is a network of connected neurons with a rhythmic pattern output. This paper proposes a CPG based on Adaptive-Exponential (AdEx) spiking neuron model for a lamprey body structure. An FPGA neuromorphic architecture is introduced in this paper for the proposed CPG. Experimental results show that the proposed CPG has functionality of a locomotion pattern with periodic rhythmic movements. With the change of the stimulation signal, the implemented CPG correctly switches between two different phases of moving. According to the results and implementation costs, the proposed bio inspired CPG can be used in artificial lamprey design.