A Novel Wireless CPG Based on Ergodic Sequential Logic Dynamics: Synchronization Analysis, Efficient FPGA Implementation, and Applications to Robot Control and Functional Electronic Stimulation

摘要

In this study, a novel wireless central pattern generator (CPG) is presented. Detailed analyses derive parameter values suitable for realizing a typical gait of a multi-legged robot and for assisting a typical motion of a human. The CPG is implemented by field programmable gate arrays coupled via simple on-off keying radio transmitters and receivers. Experiments show the wireless CPG can realize the robot gait control and the human motion assist. It is also shown the presented CPG can be implemented with fewer circuit elements and consumes lower power compared to a commonly used digital-processor-based CPG. Finally, significance and impact of this study are discussed.