AER Auditory Filtering and CPG for Robot Control

Description

Address-Event-Representation (AER) is a communication protocol for transferring asynchronous events between VLSI chips, originally developed for bio-inspired processing systems (for example, image processing). The event information in an AER system is transferred using a highspeed digital parallel bus. This paper presents an experiment using AER for sensing, processing and finally actuating a Robot. The AER output of a silicon cochlea is processed by an AER filter implemented on a FPGA to produce rhythmic walking in a humanoid robot (Redbot). We have implemented both the AER rhythm detector and the Central Pattern Generator (CPG) on a Spartan II FPGA which is part of a USB-AER platform developed by some of the authors.

Abstract

Commission of the European Communities IST-2001-34124 (CAVIAR)

Abstract

Comisión Interministerial de Ciencia y Tecnología TIC-2003-08164-C03-02

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