This paper presents an approach to open-loop motor control using Integrate and Fire (IF) neurons. The controller aims at mimicking motor control structures found in the brain and consists of three neuron populations implemented on different VLSI chips. The first population codes the distance to the target in a form of a firing rate (similarly...
-
February 13, 2020 (v1)PublicationUploaded on: December 4, 2022
-
February 14, 2020 (v1)Publication
Despite being well established in robotics, classical motor controllers have several disadvantages: they pose a high computational load, therefore requiring powerful devices, they are not easy to tune and they are not suited for neuroprosthetics. In contrast, bio-inspired controller do not transform the output of the controller therefore no...
Uploaded on: December 4, 2022 -
January 28, 2021 (v1)Publication
Compared to classic robotics, biological nervous systems respond to stimuli in a fast and efficient way regarding the body motor actions. Decision making, once the sensory information arrives to the brain, is in the order of ms, while the whole process from sensing to movement requires tens of ms. Classic robotic systems usually require complex...
Uploaded on: March 26, 2023 -
January 24, 2020 (v1)Publication
This live demonstration presents a sound source localization and tracking system implemented with Spike Signal Processing (SSP) building blocks on FPGA devices. The system architecture is based on the ability of the mammalian auditory system to locate the direction of a sound in the horizontal plane using the interaural intensity difference. We...
Uploaded on: March 27, 2023 -
December 13, 2019 (v1)Publication
We present a simple circuit to handle communication between cells of neuromorphic arrays. It allows cells to operate continuously without waiting for acknowledgement signals back from the AER (Address Event Representation) arbitration circuitry. The module also implements aging of cell petitions i.e., old petitions to access to the AER bus are...
Uploaded on: March 27, 2023 -
December 27, 2019 (v1)Publication
An event-based motor controller design is presented. The system is designed to solve the classic inverted pendulum problem by using a robotic platform and a totally neuro-inspired event-based mechanism. Specifically, DVS retinas provide feedback and an FPGA implements control. The robotic platform used is the so called 'pencil balancer'. The...
Uploaded on: March 27, 2023 -
November 14, 2022 (v1)Publication
In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change registered in the environment through their biological sensors. In this regard, we aim to replicate such kind of...
Uploaded on: March 24, 2023 -
November 14, 2022 (v1)Publication
In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change registered in the environment through their biological sensors. In this regard, we aim to replicate such kind of...
Uploaded on: March 24, 2023 -
June 30, 2022 (v1)Publication
Nowadays, sensors play a major role in several fields, such as science, industry and everyday technology. Therefore, the information received from the sensors must be reliable. If the sensors present any anomalies, serious problems can arise, such as publishing wrong theories in scientific papers, or causing production delays in industry. One...
Uploaded on: December 4, 2022 -
January 23, 2020 (v1)Publication
This live demonstration presents an audio-guided neuromorphic robot: from a Neuromorphic Auditory Sensor (NAS) to locomotion using Spiking Central Pattern Generators (sCPGs). Several gaits are generated by sCPGs implemented on a SpiNNaker board. The output of these sCPGs is sent in a real-time manner to an Field Programmable Gate Array (FPGA)...
Uploaded on: December 4, 2022 -
October 30, 2023 (v1)Publication
In this article, the authors show how, in the pursuit of research results, they can obtain excellent tools and data for engineering education. In particular, they describe one example of computer architecture in the Computer Engineering Degree Programme at the University of Cádiz in Spain. This research topic is of particular importance as...
Uploaded on: November 25, 2023 -
January 30, 2020 (v1)Publication
This paper presents an implementation of a neuro-inspired algorithm called VITE (Vector Integration To End Point) in FPGA in the spikes domain. VITE aims to generate a non-planned trajectory for reaching tasks in robots. The algorithm has been adapted to work completely in the spike domain under Simulink simulations. The FPGA implementation...
Uploaded on: December 4, 2022 -
January 29, 2020 (v1)Publication
This paper is based on the simulation of a convolution model for bioinspired neuromorphic systems using the Address-Event-Representation (AER) philosophy and implemented in the supercomputer CRS of the University of Cadiz (UCA). In this work we improve the runtime of the simulation, by dividing an image into smaller parts before AER convolution...
Uploaded on: December 4, 2022